Development of the anthropomorphic waseda saxophonist robot

Jorge Solis, Klaus Petersen, Tetsuro Yamamoto, Maasaki Takeuchi, Shimpei Ishikawa, Atsuo Takanishi, Kunimatsu Hashimoto

研究成果: Chapter

1 被引用数 (Scopus)


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.

ホスト出版物のタイトルCISM International Centre for Mechanical Sciences, Courses and Lectures
出版社Springer International Publishing
出版ステータスPublished - 2010


名前CISM International Centre for Mechanical Sciences, Courses and Lectures

ASJC Scopus subject areas

  • モデリングとシミュレーション
  • 材料力学
  • 機械工学
  • コンピュータ サイエンスの応用


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