Wayang robot with gamelan music pattern recognition

Tito Pradhono Tomo, Alexander Schmitz, Guillermo Enriquez, Shuji Hashimoto, Shigeki Sugano

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


This paper proposes a way to protect endangered wayang puppet theater, an intangible cultural heritage from Indonesia, by turning a robot into a puppeteer successor. We developed a seven degrees-offreedom (DOF) manipulator to actuate the sticks attached to the wayang puppet body and hands. The robot can imitate 8 distinct human puppeteer’smanipulations. Furthermore, we developed a gamelan music pattern recognition, towards a robot that can perform based on the gamelan music. In the offline experiment, we extracted energy (time domain), spectral rolloff, 13 Mel-frequency cepstral coefficients (MFCCs), and the harmonic ratio from 5 s long clips, every 0.025 s, with a window length of 1 s, for a total of 2576 features. Two classifiers (3 layers feed-forward neural network (FNN) and multi-class Support Vector Machine (SVM)) were compared. The SVMclassifier outperformed the FNN classifier with a recognition rate of 96.4%for identifying the three different gamelan music patterns.

Original languageEnglish
Pages (from-to)137-145
Number of pages9
JournalJournal of Robotics and Mechatronics
Issue number1
Publication statusPublished - 2017 Feb


  • Intangible culture
  • Intelligent machine
  • Machine learning
  • Music information retrieval
  • Wayang kulit

ASJC Scopus subject areas

  • Computer Science(all)
  • Electrical and Electronic Engineering


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