Towards Anthropomorphic Robot Thereminist

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Title: Towards Anthropomorphic Robot Thereminist
Authors: Wu, Y
Kuvinichkul, P
Cheung, PYK
Demiris, Y
Item Type: Conference Paper
Abstract: Theremin is an electronic musical instrument considered to be the most difficult to play which requires the players hands to have high precision and stability as any position change within proximity of the instruments 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.
Issue Date: 31-Dec-2010
URI: http://hdl.handle.net/10044/1/12672
DOI: http://dx.doi.org/10.1109/ROBIO.2010.5723333
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.
Conference Name: International Conference on Robotics and Biomimetics (ROBIO)
Conference Location: Tianjin, China.
Publication Status: Published
Start Date: 2010-12-14
Finish Date: 2010-12-18
Conference Place: Tianjin, China
Appears in Collections:Electrical and Electronic Engineering



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