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.
|出版ステータス||Published - 1985 12 1|
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