A COMPARISON OF SOLENOID-BASED STRATEGIES FOR ROBOTIC DRUMMING

摘要

Solenoids are important components of robotic drumming systems and several designs have been proposed. In this paper, we compare different designs in terms of speed and dynamic range and discuss the tradeoffs involved. The evaluation is performed in the context of MahaDeviBot, a custom built 12-armed MIDI controlled mechanical device that performs a variety of Indian folk instruments, including frame-drums, bells, and shakers. To measure speed and dynamic range a haptic robotic feedback system using piezo sensors was built. The evaluation methods presented are modular and can be administered to any hyperinstrument, new interface or robotic system to inform composers about the strengths and limitation of different designs to guide composition and performance.