1A1-D05 An Algorithm for Motion Planning of Violin-playing Robot : Determining Bowing Direction and Three Bowing Parameters(Robots for Amusement and Entertainment)

摘要

The ultimate goal of this study is to develop an anthropomorphic violin-playing robot that can produce expressive sounds, which will realize more natural communication between human and robots. In order for a robot to perform a musical piece, it is necessary to plan its motion based on the information of the musical score. It is, however, impossible to plan all motion only the information expressed on the score. Thus we developed an algorithm to determine information to plan motions of both arms. In this paper, we focus on the bowing direction and three main bowing parameters: the bow speed, the bow force and the sounding point. We decreased the number of the combination of bow directions by increasing the bow speed, and introduced an evaluation function to determine the bow directions. We also determined other parameters based on a physical model of a violin.