Improvement of the Oral Cavity and Finger Mechanisms and Implementation of a Pressure-Pitch Control System for the Waseda Saxophonist Robot
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 Wa Waseda S seda Saxophonist Robot No. 2 axophonist (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 Wa Waseda S seda Saxophonist Robot No. 2 axophonist 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.
Jorge Solis Klaus Petersen Masaaki Takeuchi Takafumi Kusano Shimpei Ishikawa Atsuo Takanishi Kunimatsu Hashimoto
Faculty of Science and Engineering,Waseda University Graduate School of Advanced Science and Engineering,Waseda University Partner Robot Division,Toyota Motor Corporation
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
3976-3981
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）