Biologically-inspired control architecture for musical performance robots

Jorge Solis*, Kenichiro Ozawa, Maasaki Takeuchi, Takafumi Kusano, Shimpei Ishikawa, Klaus Petersen, Atsuo Takanishi

*Corresponding author for this work

Research output: Contribution to journalReview articlepeer-review

2 Citations (Scopus)


At Waseda University, since 1990, the authors have been developing anthropomorphic musical performance robots as a means for understanding human control, introducing novel ways of interaction between musical partners and robots, and proposing applications for humanoid robots. In this paper, the design of a biologically-inspired control architecture for both an anthropomorphic flutist robot and a saxophone playing robot are described. As for the flutist robot, the authors have focused on implementing an auditory feedback system to improve the calibration procedure for the robot in order to play all the notes correctly during a performance. In particular, the proposed auditory feedback system is composed of three main modules: an Expressive Music Generator, a Feed Forward Air Pressure Control System and a Pitch Evaluation System. As for the saxophone-playing robot, a pressure-pitch controller (based on the feedback error learning) to improve the sound produced by the robot during a musical performance was proposed and implemented. In both cases studied, a set of experiments are described to verify the improvements achieved while considering biologically-inspired control approaches.

Original languageEnglish
Article numbera172
JournalInternational Journal of Advanced Robotic Systems
Publication statusPublished - 2014 Oct 22


  • Biologically-inspired robotics
  • Feedback error learning control
  • Music

ASJC Scopus subject areas

  • Software
  • Computer Science Applications
  • Artificial Intelligence


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