Musical Robots designed for struck idiophones lack the expressivity and musical dynamics which can make them sound more human. The actuators in these robots are mostly solenoids which have an unpredictable and unreliable response in terms of how powerfully they can strike the notes. The challenge is to use actuators which have good speed-torque characteristics, and controlling them such that they can have the speed and torque capabilities necessary for playing a Marimba, even exceeding human capabilities. In this presentation, the problem statement, the reason and the solution is discussed.