Development of the Anthropomorphic Saxophonist Robot WAS-1: Mechanical Design of the Simulated Organs and Implementation of Air Pressure Feedback Control
The research on the Waseda Flutist Robot, since 1990, is an approach to understand human motor control from an engineering point of view, as well as introducing novel ways of musical teaching. More recently, the authors have proposed as a long-term goal the aim to enable musical performance robots t...
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Published in | Advanced robotics Vol. 24; no. 5-6; pp. 629 - 650 |
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Main Authors | , , , , |
Format | Journal Article |
Language | English |
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Abstract | The research on the Waseda Flutist Robot, since 1990, is an approach to understand human motor control from an engineering point of view, as well as introducing novel ways of musical teaching. More recently, the authors have proposed as a long-term goal the aim to enable musical performance
robots to interact with musical partners. For this purpose, we present two research approaches: implementing more advanced cognitive capabilities on the Waseda Flutist Robot no. 4 Refined IV (WF-4RIV) (i.e., visual/aural processing) and developing a new musical performance robot (i.e., duet
performance). In this paper, we have focused our research on developing an anthropomorphic saxophonist robot as a benchmark to better understand how the interaction with musical partners can be facilitated. As a result, we have developed the Waseda Saxophonist Robot no. 1 (WAS-1) with 15 d.o.f.
that mechanically simulates the organs involved during saxophone playing. In this paper, we present the details of the mechanical design of the simulated organs, as well as the implementation of the musical performance control system based on air pressure feedback control. A set of experiments
was proposed to verify the effectiveness of the designed simulated organs to produce the saxophone sound and to verify the effectiveness of the proposed air pressure feedback control by comparing the saxophone performance of WAS-1 against an intermediate saxophonist. Finally, a preliminary
experiment was carried out to analyze the feasibility of realizing a duet performance with the WF-4RIV. From the experimental results, we have confirmed that WAS-1 is capable of producing a saxophone sound nearly similar in terms of pitch and volume to the performance of a human player. |
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AbstractList | The research on the Waseda Flutist Robot, since 1990, is an approach to understand human motor control from an engineering point of view, as well as introducing novel ways of musical teaching. More recently, the authors have proposed as a long-term goal the aim to enable musical performance robots to interact with musical partners. For this purpose, we present two research approaches: implementing more advanced cognitive capabilities on the Waseda Flutist Robot no. 4 Refined IV (WF-4RIV) (i.e., visual/aural processing) and developing a new musical performance robot (i.e., duet performance). In this paper, we have focused our research on developing an anthropomorphic saxophonist robot as a benchmark to better understand how the interaction with musical partners can be facilitated. As a result, we have developed the Waseda Saxophonist Robot no. 1 (WAS-1) with 15 d.o.f. that mechanically simulates the organs involved during saxophone playing. In this paper, we present the details of the mechanical design of the simulated organs, as well as the implementation of the musical performance control system based on air pressure feedback control. A set of experiments was proposed to verify the effectiveness of the designed simulated organs to produce the saxophone sound and to verify the effectiveness of the proposed air pressure feedback control by comparing the saxophone performance of WAS-1 against an intermediate saxophonist. Finally, a preliminary experiment was carried out to analyze the feasibility of realizing a duet performance with the WF-4RIV. From the experimental results, we have confirmed that WAS-1 is capable of producing a saxophone sound nearly similar in terms of pitch and volume to the performance of a human player. References: 4 references open in new window Articles that cite this article? The research on the Waseda Flutist Robot, since 1990, is an approach to understand human motor control from an engineering point of view, as well as introducing novel ways of musical teaching. More recently, the authors have proposed as a long-term goal the aim to enable musical performance robots to interact with musical partners. For this purpose, we present two research approaches: implementing more advanced cognitive capabilities on the Waseda Flutist Robot no. 4 Refined IV (WF-4RIV) (i.e., visual/aural processing) and developing a new musical performance robot (i.e., duet performance). In this paper, we have focused our research on developing an anthropomorphic saxophonist robot as a benchmark to better understand how the interaction with musical partners can be facilitated. As a result, we have developed the Waseda Saxophonist Robot no. 1 (WAS-1) with 15 d.o.f. that mechanically simulates the organs involved during saxophone playing. In this paper, we present the details of the mechanical design of the simulated organs, as well as the implementation of the musical performance control system based on air pressure feedback control. A set of experiments was proposed to verify the effectiveness of the designed simulated organs to produce the saxophone sound and to verify the effectiveness of the proposed air pressure feedback control by comparing the saxophone performance of WAS-1 against an intermediate saxophonist. Finally, a preliminary experiment was carried out to analyze the feasibility of realizing a duet performance with the WF-4RIV. From the experimental results, we have confirmed that WAS-1 is capable of producing a saxophone sound nearly similar in terms of pitch and volume to the performance of a human player. |
Author | Ninomiya, Takeshi Takanishi, Atsuo Petersen, Klaus Solis, Jorge Takeuchi, Maasaki |
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CitedBy_id | crossref_primary_10_1007_s00146_014_0545_8 crossref_primary_10_9746_sicetr_52_172 crossref_primary_10_1016_j_robot_2016_08_024 crossref_primary_10_4018_jse_2012070102 |
Cites_doi | 10.1121/1.396431 10.1142/S0219843606000709 10.1016/j.mechmachtheory.2008.09.002 |
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References | Weinberg G. (CIT0009) 2007 Benade A. H. (CIT0017) 1988; 83 Solis J. (CIT0001) 2006; 3 Kato I. (CIT0004) 1973 Solis J. (CIT0002) 2007 Schumacher R. T. (CIT0018) 1981; 48 Takashima S. (CIT0007) 2006 Singer E. (CIT0012) 2008 Goto S. (CIT0010) 2007 Solis J. (CIT0015) 2007 Sturm B. L. (CIT0021) 2004 Hayashi E. (CIT0011) 2006 Kuwabara H. (CIT0008) 2006 Solis J. (CIT0014) 2006 Shibuya K. (CIT0006) 2007 Solis J. (CIT0005) 2008; 44 Petersen K. (CIT0016) 2008 Sugano S. (CIT0003) 1987 Solis J. (CIT0013) 2008 Fuks L. (CIT0020) 1996 |
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SubjectTerms | AIR PRESSURE CONTROL BIOLOGICALLY INSPIRED ROBOTS Design engineering Feedback control Fysik Human HUMAN-ROBOT INTERACTION Motors MUSIC Organs Physics Robots Simulation Sound |
Title | Development of the Anthropomorphic Saxophonist Robot WAS-1: Mechanical Design of the Simulated Organs and Implementation of Air Pressure Feedback Control |
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