Thereminist robot: Development of a robot theremin player with feedforward and feedback arm control based on a Theremin's pitch model

Takeshi Mizumoto*, Hiroshi Tsujino, Toru Takahashi, Tetsuya Ogata, Hiroshi G. Okuno

*この研究の対応する著者

研究成果: Conference contribution

15 被引用数 (Scopus)

抄録

We propose a Thereminist robot system that plays the Theremin based on a Theremin's pitch model. The Theremin, which is a 1920s electronic musical instrument, is played by moving a player's hand position in the air without touching it. It is difficult to play the Theremin because the relationship between the hand position and Theremin's pitch (pitch characteristics) is non-linear and varies according to the electromagnetic field (hereafter called environment). These characteristics cause two problems: (1) Adapting to the environment change is required and (2) a näive design tends to depend on robot's particular hardware. We implement the coarse-to-fine control system on the Thereminist robot using newly proposed two pitch models: parametric and nonpara-metric ones. The Thereminist robot works as below: first, the robot calibrates the pitch model by parameter fitting with the Levenberg-Marquardt method. Second, the robot moves its hand in a coarse manner by feedforward control based on the pitch model. Finally, the robot adjusts its position by feedback control (Proportional-Integral control). In these steps, the robot can play a required pitch quickly, because the robot moves its hand using the pitch model without listening to the Theremin's sound Thus, the time to play the exact pitch is shorter than when only feedback control is used. Three experiments were conducted to evaluate the robustness against the number of samples, environment change, and types of robots. The results revealed that our pitch model describes using only 12 samples of pitches for estimation of the parameters, and adapts if the environment changes. In addition, our system works on two different robots: HRP-2 and ASIMO.

本文言語English
ホスト出版物のタイトル2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
ページ2297-2302
ページ数6
DOI
出版ステータスPublished - 2009 12 11
外部発表はい
イベント2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
継続期間: 2009 10 112009 10 15

出版物シリーズ

名前2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Conference

Conference2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
国/地域United States
CitySt. Louis, MO
Period09/10/1109/10/15

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 人間とコンピュータの相互作用
  • 制御およびシステム工学

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