Development of an anthropomorphic saxophone-playing robot

Jorge Solis*, Atsuo Takanishi, Kunimatsu Hashimoto

*Corresponding author for this work

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

16 Citations (Scopus)


Our research aims to develop an anthropomorphic saxophone-playing robot; as an approach to understand the human motor control from an engineering point of view. In this paper, we present theWaseda Saxophonist Robot No. 2 (WAS-2) which is composed of 22 degrees of freedom (DOF). In particular, he functioning of the lips, fingers, tongue, oral cavity and lungs have been mechanically simulated to enable WAS-2 to play an alto saxophone. Furthermore, in order to ensure the accuracy of the air pressure control, a feed-forward control system with dead time compensation has been implemented.A set of experimentswere carried out to verify the effectiveness of the proposed system. From the experimental results, the range of sound pressure was increased and the air pressure control was improved.

Original languageEnglish
Title of host publicationBrain, Body and Machine
Subtitle of host publicationProceedings of an International Symposium on the Occasion of the 25th Anniversary of the McGill University Centre for Intelligent Machines
EditorsJorge Angeles, Jozsef Kovecses, Benoit Boulet, James Clark, Kaleem Siddiqi
Number of pages12
Publication statusPublished - 2010

Publication series

NameAdvances in Intelligent and Soft Computing
ISSN (Print)1867-5662

ASJC Scopus subject areas

  • Computer Science(all)


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