Abstract
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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Solis, J. et al. (2010). Development of the Anthropomorphic Waseda Saxophonist Robot. In: Parenti Castelli, V., Schiehlen, W. (eds) ROMANSY 18 Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 524. Springer, Vienna. https://doi.org/10.1007/978-3-7091-0277-0_24
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DOI: https://doi.org/10.1007/978-3-7091-0277-0_24
Publisher Name: Springer, Vienna
Print ISBN: 978-3-7091-0276-3
Online ISBN: 978-3-7091-0277-0
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