ICRA'09 Paper Abstract


Paper FrD11.1

Petersen, Klaus (Waseda University), Solis, Jorge (Waseda University), Ninomiya, Takeshi (Waseda University), Yamamoto, Tetsuro (Waseda University), Takeuchi, Masaki (Waseda University), Takanishi, Atsuo (Waseda University)

Development of the Anthropomorphic Saxophonist Robot WAS-1: Mechanical Design of the Lip, Tonguing, Fingers and Air Pump Mechanisms

Scheduled for presentation during the Regular Sessions "Biologically-Inspired Robots - IV" (FrD11), Friday, May 15, 2009, 15:30−15:50, Room: 503

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Biologically-Inspired Robots, Humanoid Robots, Mechanism Design


The research on the development of musical performance robots has been particularly intensified on the last decades. In fact, the development of anthropomorphic robots able of playing musical instruments have been served as a mean for understanding the human motor control from an engineering point of view as well as understanding how to enable the communication between human and robots from an emotional point of view. In particular, our research aims in the development of an anthropomorphic saxophonist robot which is able not only of performing a musical score; but also to interact with other musical performance robots (i.e. Waseda Flutist Robot) at the emotional level of perception. In this year, we have focused on the mechanical design of an anthropomorphic robot Waseda Saxophonist Robot No. 1 (WAS-1); which has been designed for playing an alto saxophone. WAS-1 has a total of 15-DOFs which mechanically reproduces the following organs involved during the saxophone playing: lips, tongue, oral cavity, lungs and fingers. In order to verify the effectiveness of the production of sound, a set of experiments have been proposed. In particular, the characteristics of air flow-pressure, level of mechanical noise, and the ripple effect ratio are presented. Finally, a qualitative evaluation of the sound produced by WAS-1 is presented and discussed. From the experimental results, we have confirmed the effectiveness of the proposed mechanisms to produce the saxophone sound.



Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2022 PaperCept, Inc.
Page generated 2022-01-21  09:03:22 PST  Terms of use