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
    Event2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 - Tokyo
    Duration: 2010 Sep 262010 Sep 29

    Other

    Other2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
    CityTokyo
    Period10/9/2610/9/29

    Fingerprint

    Anthropomorphic robots
    Control systems
    Robots
    Dynamic response
    Air
    Feedforward control
    Pressure control
    Feedback control
    Acoustic waves
    Feedback
    Recovery
    Experiments

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Biomedical Engineering

    Cite this

    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] https://doi.org/10.1109/BIOROB.2010.5626000

    Imitating the saxophone playing by the anthropomorphic saxophonist robot. / Solis, Jorge; Petersen, Klaus; Yamamoto, Tetsuro; Takeuchi, Masaki; Ishikawa, Shimpei; Takanishi, Atsuo; Hashimoto, Kunimatsu.

    2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010. 2010. p. 270-275 5626000.

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

    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., 5626000, pp. 270-275, 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010, Tokyo, 10/9/26. https://doi.org/10.1109/BIOROB.2010.5626000
    Solis J, Petersen K, Yamamoto T, Takeuchi M, Ishikawa S, Takanishi A et al. 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. 2010. p. 270-275. 5626000 https://doi.org/10.1109/BIOROB.2010.5626000
    Solis, Jorge ; Petersen, Klaus ; Yamamoto, Tetsuro ; Takeuchi, Masaki ; Ishikawa, Shimpei ; Takanishi, Atsuo ; Hashimoto, Kunimatsu. / Imitating the saxophone playing by the anthropomorphic saxophonist robot. 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010. 2010. pp. 270-275
    @inproceedings{78be469476f144a5b964ec52d15f6438,
    title = "Imitating the saxophone playing by the anthropomorphic saxophonist robot",
    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.",
    author = "Jorge Solis and Klaus Petersen and Tetsuro Yamamoto and Masaki Takeuchi and Shimpei Ishikawa and Atsuo Takanishi and Kunimatsu Hashimoto",
    year = "2010",
    doi = "10.1109/BIOROB.2010.5626000",
    language = "English",
    isbn = "9781424477081",
    pages = "270--275",
    booktitle = "2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010",

    }

    TY - GEN

    T1 - Imitating the saxophone playing by the anthropomorphic saxophonist robot

    AU - Solis, Jorge

    AU - Petersen, Klaus

    AU - Yamamoto, Tetsuro

    AU - Takeuchi, Masaki

    AU - Ishikawa, Shimpei

    AU - Takanishi, Atsuo

    AU - Hashimoto, Kunimatsu

    PY - 2010

    Y1 - 2010

    N2 - 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.

    AB - 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.

    UR - http://www.scopus.com/inward/record.url?scp=78650383585&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=78650383585&partnerID=8YFLogxK

    U2 - 10.1109/BIOROB.2010.5626000

    DO - 10.1109/BIOROB.2010.5626000

    M3 - Conference contribution

    AN - SCOPUS:78650383585

    SN - 9781424477081

    SP - 270

    EP - 275

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

    ER -