In the paper, we focused on the impact sound to achieve synchronous control of external information and a humanoid robot. In the present report, we used a saw-shaped musical instrument called a musical saw. The robot hits the instrument and moves the arm holding and striking the instrument based on the striking sound. The instrument is held by the left arm of the robot, and the scale is controlled to the target frequency by changing the curvature of the instrument. Hit the instrument with your right arm and move it to the appropriate strike position to bring the sound pressure close to the target value. Analyze vibration characteristics by modeling musical instruments and apply them to robot control. As a result, the impact sound converged to the target frequency, and the sound pressure was able to approach the target value.