TY - GEN
T1 - Mechanism design and air-pressure feedback control implementation of the anthropomorphic Waseda saxophonist robot
AU - Solis, Jorge
AU - Ninomiya, Takeshi
AU - Petersen, Klaus
AU - Takeuchi, Masaki
AU - Takanishi, Atsuo
AU - Yamamoto, Tetsuro
PY - 2009
Y1 - 2009
N2 - The research on the Waseda Flutist Robot; since 1990, has been carried out as an approach to understand the human motor control from an engineering point of view as well as introducing novel ways of musical teaching. Thanks to the improvements on the technical skills of WF-4RIV, we have enabled the flutist robot to enhance its musical expressiveness. As authors have being developing basic cognitive capabilities on the WF-4RIV; we have proposed as a long-term goal to enable musical performance robots (MPRs) to interact with musical partners. For this purpose, we have proposed two approaches: implementing more advanced cognitive capabilities on the WF-4RIV and developing a new musical performance robot. In this paper, we have focused our research on developing an anthropomorphic saxophonist robot as a benchmark to understand better how the interaction with musical partners can be facilitated. Thanks to our experience on developing the flutist robot, we have succeeded in developing the WAseda Saxophist Robot no. 1 (WAS-1), which is composed of 15-DOFs. In this paper, in particular, we present the details of the mechanical and control systems. A set of experiments were proposed to compare the saxophone performance as well as the production of vibrato of the WAS-1 compared with human players.
AB - The research on the Waseda Flutist Robot; since 1990, has been carried out as an approach to understand the human motor control from an engineering point of view as well as introducing novel ways of musical teaching. Thanks to the improvements on the technical skills of WF-4RIV, we have enabled the flutist robot to enhance its musical expressiveness. As authors have being developing basic cognitive capabilities on the WF-4RIV; we have proposed as a long-term goal to enable musical performance robots (MPRs) to interact with musical partners. For this purpose, we have proposed two approaches: implementing more advanced cognitive capabilities on the WF-4RIV and developing a new musical performance robot. In this paper, we have focused our research on developing an anthropomorphic saxophonist robot as a benchmark to understand better how the interaction with musical partners can be facilitated. Thanks to our experience on developing the flutist robot, we have succeeded in developing the WAseda Saxophist Robot no. 1 (WAS-1), which is composed of 15-DOFs. In this paper, in particular, we present the details of the mechanical and control systems. A set of experiments were proposed to compare the saxophone performance as well as the production of vibrato of the WAS-1 compared with human players.
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U2 - 10.1109/ICHR.2009.5379598
DO - 10.1109/ICHR.2009.5379598
M3 - Conference contribution
AN - SCOPUS:77950585094
SN - 9781424445882
T3 - 9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09
SP - 419
EP - 424
BT - 9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09
T2 - 9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09
Y2 - 7 December 2009 through 10 December 2009
ER -