Imitating the saxophone playing by the anthropomorphic saxophonist robot

Jorge Solis, Klaus Petersen, Tetsuro Yamamoto, Masaki Takeuchi, Shimpei Ishikawa, Atsuo Takanishi, Kunimatsu Hashimoto

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

1 Citation (Scopus)

Abstract

Our research aims in developing an anthropomorphic saxophonist robot designed to mechanically reproduce the human organs involved during the saxophone playing. In this paper, the Waseda Saxophone Robot No. 2 (WAS-2) which is composed by 22-DOFs is detailed. The lip mechanism of WAS-2 has been designed with 3-DOFs to control the motion of the lower, upper and sideway lips. In addition, a human-like hand (16 DOF-s) has been designed to enable to play all the keys of the instrument. Regarding the improvement of the control system, a feed-forward control system with dead-time compensation has been implemented to assure the accurate control of the air pressure. In addition, the implementation of an auditory feedback control system has been proposed and implemented in order to adjust the positioning of the physical parameters of the components of the robot by providing a pitch feedback and defining a recovery position (off-line). A set of experiments were carried out to verify the mechanical design improvements and the dynamic response of the air pressure. As a result, the range of sound pressure has been increased and the proposed control system improved the dynamic response of the air pressure control.

Original languageEnglish
Title of host publication2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
Pages270-275
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 27
Event2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 - Tokyo, Japan
Duration: 2010 Sep 262010 Sep 29

Publication series

Name2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010

Conference

Conference2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
CountryJapan
CityTokyo
Period10/9/2610/9/29

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering

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    Solis, J., Petersen, K., Yamamoto, T., Takeuchi, M., Ishikawa, S., Takanishi, A., & Hashimoto, K. (2010). Imitating the saxophone playing by the anthropomorphic saxophonist robot. In 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 (pp. 270-275). [5626000] (2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010). https://doi.org/10.1109/BIOROB.2010.5626000