Adaptive pitch control for robot thereminist using unscented Kalman filter

Takeshi Mizumoto, Toru Takahashi, Tetsuya Ogata, Hiroshi G. Okuno

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We present an adaptive pitch control method for a theremin playing robot in ensemble. The problem of the theremin playing is its sensitivity to the environment. This degrades the pitch accuracy because its pitch characteristics are time varying caused by, such as a co-player motion during the ensemble. We solve this problem using a state space model of this characteristics and an unscented Kalman filter. Experimental results show that our method reduces the pitch error the EKF and block-wise update method by 90% and 77% on average, and the robot can play a musical score of 72.9 cent error on average.

Original languageEnglish
Title of host publicationStudies in Computational Intelligence
Pages19-24
Number of pages6
Volume431
DOIs
Publication statusPublished - 2012
Externally publishedYes

Publication series

NameStudies in Computational Intelligence
Volume431
ISSN (Print)1860949X

Fingerprint

Kalman filters
Robots

ASJC Scopus subject areas

  • Artificial Intelligence

Cite this

Mizumoto, T., Takahashi, T., Ogata, T., & Okuno, H. G. (2012). Adaptive pitch control for robot thereminist using unscented Kalman filter. In Studies in Computational Intelligence (Vol. 431, pp. 19-24). (Studies in Computational Intelligence; Vol. 431). https://doi.org/10.1007/978-3-642-30732-4-3

Adaptive pitch control for robot thereminist using unscented Kalman filter. / Mizumoto, Takeshi; Takahashi, Toru; Ogata, Tetsuya; Okuno, Hiroshi G.

Studies in Computational Intelligence. Vol. 431 2012. p. 19-24 (Studies in Computational Intelligence; Vol. 431).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Mizumoto, T, Takahashi, T, Ogata, T & Okuno, HG 2012, Adaptive pitch control for robot thereminist using unscented Kalman filter. in Studies in Computational Intelligence. vol. 431, Studies in Computational Intelligence, vol. 431, pp. 19-24. https://doi.org/10.1007/978-3-642-30732-4-3
Mizumoto T, Takahashi T, Ogata T, Okuno HG. Adaptive pitch control for robot thereminist using unscented Kalman filter. In Studies in Computational Intelligence. Vol. 431. 2012. p. 19-24. (Studies in Computational Intelligence). https://doi.org/10.1007/978-3-642-30732-4-3
Mizumoto, Takeshi ; Takahashi, Toru ; Ogata, Tetsuya ; Okuno, Hiroshi G. / Adaptive pitch control for robot thereminist using unscented Kalman filter. Studies in Computational Intelligence. Vol. 431 2012. pp. 19-24 (Studies in Computational Intelligence).
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