ICRA 2011 Paper Abstract


Paper WeP203.2

Solis, Jorge (Waseda University), Petersen, Klaus (Waseda University), Takeuchi, Masaki (Waseda University), Takafumi, Kusano (Waseda University), Ishikawa, Shimpei (Waseda University), Takanishi, Atsuo (Waseda University), Hashimoto, Kunimatsu (Toyota Motor Corporation)

Improvement of the Oral Cavity and Finger Mechanisms and Implementation of a Pressure-Pitch Control System for the Waseda Saxophonist Robot

Scheduled for presentation during the Regular Sessions "Humanoid Robots IV" (WeP203), Wednesday, May 11, 2011, 15:40−15:55, Room 3D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Biologically-Inspired Robots, Humanoid Robots, Control Architectures and Programming


Our research is related to the development of an anthropomorphic saxophonist robot which reproduced the human organs involved during the saxophone playing. In a previous research, we have presented the Waseda Saxophonist Robot No. 2 (WAS-2) which improved the design of the lip and finger mechanisms. In addition, a feed-forward air pressure with dead-time compensation and an overblowing correction controller were implemented. However, the range of pressure was too limited to reproduce dynamic effects of the sound, a delay on the response of the finger mechanism was detected and deviations on the pitch were observed. Therefore; in this paper, we present the Waseda Saxophonist Robot No. 2 Refined (WAS-2R). In particular the shape of the oral cavity has been re-designed to increase the sound pressure range and potentiometers were embedded on the fingers to reduce the dynamic delay response of the wire-driven mechanism. In addition, a Pressure-Pitch Controller has been implemented to reduce the deviation of the sound pitch by implementing a feedback error learning algorithm for a Multiple-Input Multiple-Output system. A set of experiments were proposed to verify the effectiveness of the re-designed mechanisms and the improved control strategy. From the experimental results, we could confirm the improvements to extend the sound pressure range to reproduce the decrescendo effect, to reduce the response delay from the finger mechanism as well as the deviations on the sound pitch.



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