TY - CHAP
T1 - Development of the anthropomorphic waseda saxophonist robot
AU - Solis, Jorge
AU - Petersen, Klaus
AU - Yamamoto, Tetsuro
AU - Takeuchi, Maasaki
AU - Ishikawa, Shimpei
AU - Takanishi, Atsuo
AU - Hashimoto, Kunimatsu
N1 - Publisher Copyright:
© 2010, CISM, Udine.
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
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U2 - 10.1007/978-3-7091-0277-0_24
DO - 10.1007/978-3-7091-0277-0_24
M3 - Chapter
AN - SCOPUS:85052233835
T3 - CISM International Centre for Mechanical Sciences, Courses and Lectures
SP - 209
EP - 216
BT - CISM International Centre for Mechanical Sciences, Courses and Lectures
PB - Springer International Publishing
ER -