Towards Anthropomorphic Robot Thereminist
File(s)
Accepted version
Author(s)
Wu, Yan
Kuvinichkul, Polake
Cheung, Peter YK
Demiris, Yiannis
Type
Conference Paper
Abstract
Theremin is an electronic musical instrument considered to be the most difficult to play which requires the player's hands to have high precision and stability as any position change within proximity of the instrument's antennae can make a difference to the pitch or volume. In a different direction to previous developments of Theremin playing robots, we propose a Humanoid Thereminist System that goes beyond using only one degree of freedom which will open up the possibility for robot to acquire more complex skills, such as aerial fingering and include musical expressions in playing the Theremin. The proposed system consists of two phases, namely calibration phase and playing phase which can be executed independently. During the playing phase, the System takes input from a MIDI file and performs path planning using a combination of minimum energy strategy in joint space and feedback error correction for next playing note. Three experiments have been conducted to evaluate the developed system quantitatively and qualitatively by playing a selection of music files. The experiments have demonstrated that the proposed system can effectively utilise multiple degrees of freedoms while maintaining minimum pitch error margins.
Date Issued
2010-12
Citation
2010, pp.235-240
ISBN
978-1-4244-9319-7
Publisher
IEEE
Start Page
235
End Page
240
Copyright Statement
© 2010 IEEE. . Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Description
16/01/14 MEB. Pre-print version, OK to pub.
Source
International Conference on Robotics and Biomimetics (ROBIO)
Source Place
Tianjin, China.
Subjects
robotic Thereminist
music playing robot
aerial fingering
humanoid
iCub
Publication Status
Published
Start Date
2010-12-14
Finish Date
2010-12-18
Coverage Spatial
Tianjin, China