Development of the anthropomorphic waseda saxophonist robot

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

    研究成果: Chapter

    抄録

    Our research is related to the development of an anthropomorphic saxophonist robot, which it has been designed to mechanically reproduce the organs involved during the saxophone playing. Our research aims in understanding the motor control from an engineering point of view and enabling the communication between humans and robots in musical terms. In this paper, we present the Waseda Saxophone Robot No. 2 (WAS-2) which is composed by 22-DOFs. In particular, the lip mechanism of WAS-2 has been designed with 3-DOFs to control the motion of the lower, upper and sideways lips to increase the sound range and to reproduce the dynamic effect of the sound (i.e. crescendo and decrescendo). In addition, a human-like hand (16-DOFs) has been designed to enable to play all the keys of the instrument. A set of experiments were carried out to verify the effectiveness of the mechanical design and the control system improvements.

    本文言語English
    ホスト出版物のタイトルCISM International Centre for Mechanical Sciences, Courses and Lectures
    出版社Springer International Publishing
    ページ209-216
    ページ数8
    DOI
    出版ステータスPublished - 2010 1 1

    出版物シリーズ

    名前CISM International Centre for Mechanical Sciences, Courses and Lectures
    524
    ISSN(印刷版)0254-1971
    ISSN(電子版)2309-3706

    ASJC Scopus subject areas

    • Mechanical Engineering
    • Mechanics of Materials
    • Computer Science Applications
    • Modelling and Simulation

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