Adaptive pitch control for robot thereminist using unscented Kalman filter

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

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)


We present an adaptive pitch control method for a theremin playing robot in ensemble. The problem of the theremin playing is its sensitivity to the environment. This degrades the pitch accuracy because its pitch characteristics are time varying caused by, such as a co-player motion during the ensemble. We solve this problem using a state space model of this characteristics and an unscented Kalman filter. Experimental results show that our method reduces the pitch error the EKF and block-wise update method by 90% and 77% on average, and the robot can play a musical score of 72.9 cent error on average.

Original languageEnglish
Title of host publicationModern Advances in Intelligent Systems and Tools
PublisherSpringer Verlag
Number of pages6
ISBN (Print)9783642307317
Publication statusPublished - 2012
Externally publishedYes

Publication series

NameStudies in Computational Intelligence
ISSN (Print)1860-949X

ASJC Scopus subject areas

  • Artificial Intelligence


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