A Methodology For Evaluating Robotic Striking Mechanisms For Musical Contexts

Abstract

This paper presents a methodology for evaluating the performance of several types of striking mechanism commonly utilized in musical robotic percussion systems. The goal is to take steps towards standardizing methods of comparing the attributes of a range of devices to inform their design and application in various musical situations. A system for testing the latency, consistency, loudness and striking speed of these mechanisms is described and the methods are demonstrated by subjecting several new robotic percussion mechanisms to these tests. An analysis of the results of the evaluation is also presented and the advantages and disadvantages of each of the types of mechanism in various musical contexts is discussed.