Improvement of the oral cavity and finger mechanisms and implementation of a pressure-pitch control system for the waseda saxophonist robot

Jorge Solis, Klaus Petersen, Masaaki Takeuchi, Takafumi Kusano, Shimpei Ishikawa, Atsuo Takanishi, Kunimatsu Hashimoto

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

    1 Citation (Scopus)

    Abstract

    Our research is related to the development of an anthropomorphic saxophonist robot which reproduced the human organs involved during the saxophone playing. This research approach aims in understanding the human motor control from an engineering point of view and enabling the communication between humans and robots in musical terms. In a previous research, we have presented the Waseda Saxophonist Robot No. 2 (WAS-2) which improved the design of the lip and finger mechanisms. In addition, a feed-forward air pressure with dead-time compensation and an overblowing correction controller were implemented. However, the range of pressure was too limited to reproduce dynamic effects of the sound (i.e. decrescendo, etc.), a delay on the response of the finger mechanism was detected (due to the use of a wire-driven mechanism) and deviations on the pitch during the saxophone playing were observed. Therefore; in this paper, we present the Waseda Saxophonist Robot No. 2 Refined (WAS-2R). In particular the shape of the oral cavity has been re-designed to increase the sound pressure range and potentiometers were embedded on the fingers to reduce the dynamic delay response of the wire-driven mechanism. In addition, a Pressure-Pitch Controller has been implemented to reduce the deviation of the sound pitch by implementing a feedback error learning algorithm for a Multiple-Input Multiple-Output system. A set of experiments were proposed to verify the effectiveness of the re-designed mechanisms and the improved control strategy. From the experimental results, we could confirm the improvements to extend the sound pressure range to reproduce the decrescendo effect, to reduce the response delay from the finger mechanism as well as the deviations on the sound pitch.

    Original languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    Pages3976-3981
    Number of pages6
    DOIs
    Publication statusPublished - 2011
    Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai
    Duration: 2011 May 92011 May 13

    Other

    Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
    CityShanghai
    Period11/5/911/5/13

    Fingerprint

    Pressure control
    Acoustic waves
    Robots
    Control systems
    Anthropomorphic robots
    Wire
    Controllers
    Learning algorithms
    Feedback
    Communication
    Air
    Experiments

    ASJC Scopus subject areas

    • Software
    • Artificial Intelligence
    • Control and Systems Engineering
    • Electrical and Electronic Engineering

    Cite this

    Solis, J., Petersen, K., Takeuchi, M., Kusano, T., Ishikawa, S., Takanishi, A., & Hashimoto, K. (2011). Improvement of the oral cavity and finger mechanisms and implementation of a pressure-pitch control system for the waseda saxophonist robot. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 3976-3981). [5979572] https://doi.org/10.1109/ICRA.2011.5979572

    Improvement of the oral cavity and finger mechanisms and implementation of a pressure-pitch control system for the waseda saxophonist robot. / Solis, Jorge; Petersen, Klaus; Takeuchi, Masaaki; Kusano, Takafumi; Ishikawa, Shimpei; Takanishi, Atsuo; Hashimoto, Kunimatsu.

    Proceedings - IEEE International Conference on Robotics and Automation. 2011. p. 3976-3981 5979572.

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

    Solis, J, Petersen, K, Takeuchi, M, Kusano, T, Ishikawa, S, Takanishi, A & Hashimoto, K 2011, Improvement of the oral cavity and finger mechanisms and implementation of a pressure-pitch control system for the waseda saxophonist robot. in Proceedings - IEEE International Conference on Robotics and Automation., 5979572, pp. 3976-3981, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, 11/5/9. https://doi.org/10.1109/ICRA.2011.5979572
    Solis J, Petersen K, Takeuchi M, Kusano T, Ishikawa S, Takanishi A et al. Improvement of the oral cavity and finger mechanisms and implementation of a pressure-pitch control system for the waseda saxophonist robot. In Proceedings - IEEE International Conference on Robotics and Automation. 2011. p. 3976-3981. 5979572 https://doi.org/10.1109/ICRA.2011.5979572
    Solis, Jorge ; Petersen, Klaus ; Takeuchi, Masaaki ; Kusano, Takafumi ; Ishikawa, Shimpei ; Takanishi, Atsuo ; Hashimoto, Kunimatsu. / Improvement of the oral cavity and finger mechanisms and implementation of a pressure-pitch control system for the waseda saxophonist robot. Proceedings - IEEE International Conference on Robotics and Automation. 2011. pp. 3976-3981
    @inproceedings{76f96f65c9a24e8a951ea7ffb6c96dbf,
    title = "Improvement of the oral cavity and finger mechanisms and implementation of a pressure-pitch control system for the waseda saxophonist robot",
    abstract = "Our research is related to the development of an anthropomorphic saxophonist robot which reproduced the human organs involved during the saxophone playing. This research approach aims in understanding the human motor control from an engineering point of view and enabling the communication between humans and robots in musical terms. In a previous research, we have presented the Waseda Saxophonist Robot No. 2 (WAS-2) which improved the design of the lip and finger mechanisms. In addition, a feed-forward air pressure with dead-time compensation and an overblowing correction controller were implemented. However, the range of pressure was too limited to reproduce dynamic effects of the sound (i.e. decrescendo, etc.), a delay on the response of the finger mechanism was detected (due to the use of a wire-driven mechanism) and deviations on the pitch during the saxophone playing were observed. Therefore; in this paper, we present the Waseda Saxophonist Robot No. 2 Refined (WAS-2R). In particular the shape of the oral cavity has been re-designed to increase the sound pressure range and potentiometers were embedded on the fingers to reduce the dynamic delay response of the wire-driven mechanism. In addition, a Pressure-Pitch Controller has been implemented to reduce the deviation of the sound pitch by implementing a feedback error learning algorithm for a Multiple-Input Multiple-Output system. A set of experiments were proposed to verify the effectiveness of the re-designed mechanisms and the improved control strategy. From the experimental results, we could confirm the improvements to extend the sound pressure range to reproduce the decrescendo effect, to reduce the response delay from the finger mechanism as well as the deviations on the sound pitch.",
    author = "Jorge Solis and Klaus Petersen and Masaaki Takeuchi and Takafumi Kusano and Shimpei Ishikawa and Atsuo Takanishi and Kunimatsu Hashimoto",
    year = "2011",
    doi = "10.1109/ICRA.2011.5979572",
    language = "English",
    isbn = "9781612843865",
    pages = "3976--3981",
    booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",

    }

    TY - GEN

    T1 - Improvement of the oral cavity and finger mechanisms and implementation of a pressure-pitch control system for the waseda saxophonist robot

    AU - Solis, Jorge

    AU - Petersen, Klaus

    AU - Takeuchi, Masaaki

    AU - Kusano, Takafumi

    AU - Ishikawa, Shimpei

    AU - Takanishi, Atsuo

    AU - Hashimoto, Kunimatsu

    PY - 2011

    Y1 - 2011

    N2 - Our research is related to the development of an anthropomorphic saxophonist robot which reproduced the human organs involved during the saxophone playing. This research approach aims in understanding the human motor control from an engineering point of view and enabling the communication between humans and robots in musical terms. In a previous research, we have presented the Waseda Saxophonist Robot No. 2 (WAS-2) which improved the design of the lip and finger mechanisms. In addition, a feed-forward air pressure with dead-time compensation and an overblowing correction controller were implemented. However, the range of pressure was too limited to reproduce dynamic effects of the sound (i.e. decrescendo, etc.), a delay on the response of the finger mechanism was detected (due to the use of a wire-driven mechanism) and deviations on the pitch during the saxophone playing were observed. Therefore; in this paper, we present the Waseda Saxophonist Robot No. 2 Refined (WAS-2R). In particular the shape of the oral cavity has been re-designed to increase the sound pressure range and potentiometers were embedded on the fingers to reduce the dynamic delay response of the wire-driven mechanism. In addition, a Pressure-Pitch Controller has been implemented to reduce the deviation of the sound pitch by implementing a feedback error learning algorithm for a Multiple-Input Multiple-Output system. A set of experiments were proposed to verify the effectiveness of the re-designed mechanisms and the improved control strategy. From the experimental results, we could confirm the improvements to extend the sound pressure range to reproduce the decrescendo effect, to reduce the response delay from the finger mechanism as well as the deviations on the sound pitch.

    AB - Our research is related to the development of an anthropomorphic saxophonist robot which reproduced the human organs involved during the saxophone playing. This research approach aims in understanding the human motor control from an engineering point of view and enabling the communication between humans and robots in musical terms. In a previous research, we have presented the Waseda Saxophonist Robot No. 2 (WAS-2) which improved the design of the lip and finger mechanisms. In addition, a feed-forward air pressure with dead-time compensation and an overblowing correction controller were implemented. However, the range of pressure was too limited to reproduce dynamic effects of the sound (i.e. decrescendo, etc.), a delay on the response of the finger mechanism was detected (due to the use of a wire-driven mechanism) and deviations on the pitch during the saxophone playing were observed. Therefore; in this paper, we present the Waseda Saxophonist Robot No. 2 Refined (WAS-2R). In particular the shape of the oral cavity has been re-designed to increase the sound pressure range and potentiometers were embedded on the fingers to reduce the dynamic delay response of the wire-driven mechanism. In addition, a Pressure-Pitch Controller has been implemented to reduce the deviation of the sound pitch by implementing a feedback error learning algorithm for a Multiple-Input Multiple-Output system. A set of experiments were proposed to verify the effectiveness of the re-designed mechanisms and the improved control strategy. From the experimental results, we could confirm the improvements to extend the sound pressure range to reproduce the decrescendo effect, to reduce the response delay from the finger mechanism as well as the deviations on the sound pitch.

    UR - http://www.scopus.com/inward/record.url?scp=84871707112&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=84871707112&partnerID=8YFLogxK

    U2 - 10.1109/ICRA.2011.5979572

    DO - 10.1109/ICRA.2011.5979572

    M3 - Conference contribution

    AN - SCOPUS:84871707112

    SN - 9781612843865

    SP - 3976

    EP - 3981

    BT - Proceedings - IEEE International Conference on Robotics and Automation

    ER -