文档介绍：Mechanism and Machine Theory 44 (2009) 527–540
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Mechanism and Machine Theory
journal homepage: ate/mechmt
Refining the flute sound production of the Waseda flutist robot the
mechanical design of the ans involved during the flute playing
Jorge Solis a,c,*, Koichi Taniguchi b, Takeshi Ninomiya b, Tetsuro Yamamoto b, Atsuo Takanishi a,c
a Department of Modern Mechanical Engineering, Waseda University, Japan
b Graduate School of Science and Engineering, Waseda University, Japan
c Humanoid Robotics Institute, Waseda University, Japan
article info abstract
Article history: Up to now, different kinds of musical performance robots (MPRs) and robotic musicians
Received 15 October 2007 (RMs) have been developed. MPRs are designed to closely reproduce the required motor
Received in revised form 1 September 2008 skills displayed by humans (. anthropomorphic robots) in order to play musical instru-
Accepted 5 September 2008
ments. MPRs are then usually conceived as benchmarks to study the human motor control
Available online 17 October 2008
from an engineering point of view and to better understand the human–robot interaction
from a musical stand point. In contrast, RMs are conceived as automated mechanisms
designed for the creation of new ways of musical expression from the musical engineering
PACS:
perspective. Our research on the anthropomorphic flutist robot, at Waseda University, has
.Ày
been focused on clarifying the human motor control while playing the flute, proposing
Keywords: novel applications for humanoid robots and enabling munication with humans
Humanoid robots at the emotional level of perception. In this paper, we are presenting the details of the
Human–robot interaction development of the Waseda flutist robot No. 4 Refined IV (WF-4RIV). The WF-4RIV -
Music posed by 41-DOFs that reproduce the anatomy and physiology of ans involved dur-
ing the flute playing. In particular, we describe