Shigeki Sugano, Y. Tanaka, T. Ohoka, I. Kato

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


    The purpose of this study is to explore ways to improve the dexterity, speed and intelligence of robots by the development of an anthropomorphic robot which can play a keyboard instrument. This robot 'WABOT-2', has two arms with five fingers each, and two legs, totaling 50 degrees of freedom (DOF). To allow efficient autonomic control of multi-DOF, the system employs a hierarchically structured micro-computer system, a systematically organized knowledge-base and hierarchical information processing. For autonomic control, the knowledge-base incorporates three types of knowledge; object, work and self. And an optimal fingering and wrist positioning determination program has been developed. As a result, the WABOT-2 limb control system has realized autonomic fluent playing of intermediate-level tunes.

    Original languageEnglish
    Title of host publicationUnknown Host Publication Title
    Place of PublicationTokyo, Jpn
    PublisherJapan Industrial Robot Assoc
    Number of pages6
    Publication statusPublished - 1985


    ASJC Scopus subject areas

    • Engineering(all)

    Cite this

    Sugano, S., Tanaka, Y., Ohoka, T., & Kato, I. (1985). LIMB CONTROL OF THE ROBOT MUSICIAN 'WABOT-2'. In Unknown Host Publication Title (pp. 471-476). Japan Industrial Robot Assoc.