Abstract
The purpose of this study is to explore ways to improve the dexterity, speed and intelligence of robots by the development of an anthropomorphic robot which can play a keyboard instrument. This robot 'WABOT-2', has two arms with five fingers each, and two legs, totaling 50 degrees of freedom (DOF). To allow efficient autonomic control of multi-DOF, the system employs a hierarchically structured micro-computer system, a systematically organized knowledge-base and hierarchical information processing. For autonomic control, the knowledge-base incorporates three types of knowledge; object, work and self. And an optimal fingering and wrist positioning determination program has been developed. As a result, the WABOT-2 limb control system has realized autonomic fluent playing of intermediate-level tunes.
| Original language | English |
|---|---|
| Pages | 471-476 |
| Number of pages | 6 |
| Publication status | Published - 1985 Dec 1 |
ASJC Scopus subject areas
- Engineering(all)