Musical Articulation System on Humanoid Saxophonist Robot

Jia Yeu Lin, Mao Kawai, Kei Matsuki, Sarah Cosentino, Salvatore Sessa, Atsuo Takanishi*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingChapter

1 Citation (Scopus)


In this paper, a musical articulation system for the Waseda Anthropomorphic Saxophonist robot is proposed. First, the specifications to produce musical articulation with a saxophone are determined. Then, a tonguing mechanism and a fast air flow control valve are implemented on the robot along with an integrated feedback control system to perform articulation by synchronously stopping reed vibration and reducing the air flow. The effectiveness of the system is verified by conducting a performance comparison experiment between the robot and a professional musician. Results are briefly discussed and future works in the same direction are considered.

Original languageEnglish
Title of host publicationCISM International Centre for Mechanical Sciences, Courses and Lectures
PublisherSpringer International Publishing
Number of pages8
Publication statusPublished - 2019

Publication series

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


  • Control systems
  • Humanoid robot
  • Music robot

ASJC Scopus subject areas

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


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