Development of the anthropomorphic waseda saxophonist robot

Jorge Solis, Klaus Petersen, Tetsuro Yamamoto, Maasaki Takeuchi, Shimpei Ishikawa, Atsuo Takanishi, Kunimatsu Hashimoto

Research output: Chapter in Book/Report/Conference proceedingChapter

1 Citation (Scopus)


Our research is related to the development of an anthropomorphic saxophonist robot, which it has been designed to mechanically reproduce the organs involved during the saxophone playing. Our research aims in understanding the motor control from an engineering point of view and enabling the communication between humans and robots in musical terms. In this paper, we present the Waseda Saxophone Robot No. 2 (WAS-2) which is composed by 22-DOFs. In particular, the lip mechanism of WAS-2 has been designed with 3-DOFs to control the motion of the lower, upper and sideways lips to increase the sound range and to reproduce the dynamic effect of the sound (i.e. crescendo and decrescendo). In addition, a human-like hand (16-DOFs) has been designed to enable to play all the keys of the instrument. A set of experiments were carried out to verify the effectiveness of the mechanical design and the control system improvements.

Original languageEnglish
Title of host publicationCISM International Centre for Mechanical Sciences, Courses and Lectures
PublisherSpringer International Publishing
Number of pages8
Publication statusPublished - 2010

Publication series

NameCISM International Centre for Mechanical Sciences, Courses and Lectures
ISSN (Print)0254-1971
ISSN (Electronic)2309-3706

ASJC Scopus subject areas

  • Modelling and Simulation
  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications


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