TY - GEN
T1 - Design and evaluation of a robot limb for table key playing on humanoid saxophonist robot
AU - Lin, Jia Yeu
AU - Nishio, Yuya
AU - Kawai, Mao
AU - Matsuki, Kei
AU - Sessa, Salvatore
AU - Cosentino, Sarah
AU - Takanishi, Atsuo
N1 - Funding Information:
*R*Research supported by the JSPS Grant-in-Aid for Young Scientists (Wakate B) [17K18178]. 1 Faculty of Science and Engineering, Waseda University, Japan
Funding Information:
Italian Ministry of Foreign Affairs, General Directorate for Cultural Promotion and Cooperation for its support to RoboCasa; The authors would also like to express their gratitude to Tokyo Women’s Medical University/Waseda University Joint Institution for Advanced Biomedical Sciences (TWIns), Waseda University Program for Leading Graduate Schools, STMicroelectronics, Life Performance Research, and Humanoid Robotics Institute (HRI) for their support to this work.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/4/25
Y1 - 2019/4/25
N2 - Robots are usually capable of carrying out one kind of specific task automatically at the same level with human. The mechanisms on those robot are designed only to adapt with conducting certain series of actions, and therefore, the same complexity as human body is not needed. The Waseda Anthropomorphic Saxophonist robot (WAS) is developed since 2007 to accomplish performing saxophone at the level of a human professional. However, the register it can perform is still limited and needs to be improved. In the research, we analyzed the movement of a saxophonist's upper limbs and found out the significant joints he used when playing with table key, a group of keys on the saxophone used to perform lower register. As the result, a simplified model of robot limb was developed and its capability was verified by comparing with the experimental result.
AB - Robots are usually capable of carrying out one kind of specific task automatically at the same level with human. The mechanisms on those robot are designed only to adapt with conducting certain series of actions, and therefore, the same complexity as human body is not needed. The Waseda Anthropomorphic Saxophonist robot (WAS) is developed since 2007 to accomplish performing saxophone at the level of a human professional. However, the register it can perform is still limited and needs to be improved. In the research, we analyzed the movement of a saxophonist's upper limbs and found out the significant joints he used when playing with table key, a group of keys on the saxophone used to perform lower register. As the result, a simplified model of robot limb was developed and its capability was verified by comparing with the experimental result.
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U2 - 10.1109/SII.2019.8700424
DO - 10.1109/SII.2019.8700424
M3 - Conference contribution
AN - SCOPUS:85065638498
T3 - Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
SP - 799
EP - 804
BT - Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE/SICE International Symposium on System Integration, SII 2019
Y2 - 14 January 2019 through 16 January 2019
ER -