Biologically-inspired control architecture for musical performance robots

Jorge Solis*, Kenichiro Ozawa, Maasaki Takeuchi, Takafumi Kusano, Shimpei Ishikawa, Klaus Petersen, Atsuo Takanishi


研究成果: Review article査読

2 被引用数 (Scopus)


At Waseda University, since 1990, the authors have been developing anthropomorphic musical performance robots as a means for understanding human control, introducing novel ways of interaction between musical partners and robots, and proposing applications for humanoid robots. In this paper, the design of a biologically-inspired control architecture for both an anthropomorphic flutist robot and a saxophone playing robot are described. As for the flutist robot, the authors have focused on implementing an auditory feedback system to improve the calibration procedure for the robot in order to play all the notes correctly during a performance. In particular, the proposed auditory feedback system is composed of three main modules: an Expressive Music Generator, a Feed Forward Air Pressure Control System and a Pitch Evaluation System. As for the saxophone-playing robot, a pressure-pitch controller (based on the feedback error learning) to improve the sound produced by the robot during a musical performance was proposed and implemented. In both cases studied, a set of experiments are described to verify the improvements achieved while considering biologically-inspired control approaches.

ジャーナルInternational Journal of Advanced Robotic Systems
出版ステータスPublished - 2014 10月 22

ASJC Scopus subject areas

  • ソフトウェア
  • コンピュータ サイエンスの応用
  • 人工知能


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