Adaptive Pitch Control for Robot Thereminist Using Unscented Kalman Filter

  • Takeshi MizumotoEmail author
  • Toru Takahashi
  • Tetsuya Ogata
  • Hiroshi G. Okuno
Conference paper
Part of the Studies in Computational Intelligence book series (SCI, volume 431)


We present an adaptive pitch control method for a theremin playing robot in ensemble. The problem of the theremin playing is its sensitivity to the environment. This degrades the pitch accuracy because its pitch characteristics are time varying caused by, such as a co-player motion during the ensemble. We solve this problem using a state space model of this characteristics and an unscented Kalman filter. Experimental results show that our method reduces the pitch error the EKF and block-wise update method by 90% and 77% on average, and the robot can play a musical score of 72.9 cent error on average.


State Space Model Unscented Kalman Filter Observation Function Musical Score Sigma Point 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Takeshi Mizumoto
    • 1
    Email author
  • Toru Takahashi
    • 1
  • Tetsuya Ogata
    • 1
  • Hiroshi G. Okuno
    • 1
  1. 1.Graduate School of InformaticsKyoto UniversityKyotoJapan

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