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

研究成果: Conference contribution

1 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトル2011 IEEE International Conference on Robotics and Automation, ICRA 2011
ページ3976-3981
ページ数6
DOI
出版物ステータスPublished - 2011 12 1
イベント2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
継続期間: 2011 5 92011 5 13

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷物)1050-4729

Conference

Conference2011 IEEE International Conference on Robotics and Automation, ICRA 2011
China
Shanghai
期間11/5/911/5/13

ASJC Scopus subject areas

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

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  • これを引用

    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. : 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 (pp. 3976-3981). [5979572] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2011.5979572