Mechanism design and air-pressure feedback control implementation of the anthropomorphic Waseda saxophonist robot

Jorge Solis*, Takeshi Ninomiya, Klaus Petersen, Masaki Takeuchi, Atsuo Takanishi, Tetsuro Yamamoto

*この研究の対応する著者

研究成果: Conference contribution

抄録

The research on the Waseda Flutist Robot; since 1990, has been carried out as an approach to understand the human motor control from an engineering point of view as well as introducing novel ways of musical teaching. Thanks to the improvements on the technical skills of WF-4RIV, we have enabled the flutist robot to enhance its musical expressiveness. As authors have being developing basic cognitive capabilities on the WF-4RIV; we have proposed as a long-term goal to enable musical performance robots (MPRs) to interact with musical partners. For this purpose, we have proposed two approaches: implementing more advanced cognitive capabilities on the WF-4RIV and developing a new musical performance robot. In this paper, we have focused our research on developing an anthropomorphic saxophonist robot as a benchmark to understand better how the interaction with musical partners can be facilitated. Thanks to our experience on developing the flutist robot, we have succeeded in developing the WAseda Saxophist Robot no. 1 (WAS-1), which is composed of 15-DOFs. In this paper, in particular, we present the details of the mechanical and control systems. A set of experiments were proposed to compare the saxophone performance as well as the production of vibrato of the WAS-1 compared with human players.

本文言語English
ホスト出版物のタイトル9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09
ページ419-424
ページ数6
DOI
出版ステータスPublished - 2009 12月 1
イベント9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09 - Paris, France
継続期間: 2009 12月 72009 12月 10

出版物シリーズ

名前9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09

Conference

Conference9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09
国/地域France
CityParis
Period09/12/709/12/10

ASJC Scopus subject areas

  • コンピュータ サイエンス(全般)

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