LIMB CONTROL OF THE ROBOT MUSICIAN 'WABOT-2'.

S. Sugano*, Y. Tanaka, T. Ohoka, I. Kato

*この研究の対応する著者

研究成果: Paper査読

1 被引用数 (Scopus)

抄録

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.

本文言語English
ページ471-476
ページ数6
出版ステータスPublished - 1985 12 1

ASJC Scopus subject areas

  • 工学(全般)

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