Bio-Inspired Design and Control of the Waseda Saxophonist Robot
Jorge Solis, Atsuo Takanishi, Koichi Hashimoto · 2011
This research is focused in developing an anthropomorphic saxophonist robot designed to reproduce the human organs involved during the saxophone playing. In this paper, we present the Waseda Saxophonist Robot No. 2 R efined (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 rage to reproduce the decrescendo effect, to reduce the response delay from the finger mechanism as well as the deviations on the sound pitch.