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Development of a Piano-Playing Robot with Motion-Sound Mapping
Thai V.Hoang,Kwang-Hyun park,Zeungnam Bien 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2008 International Journal of Assistive Robotics and Me Vol.9 No.3
This paper presents the development of a piano-playing robot with motion-sound mapping in order to provide the elderly a means of entertainment that can interact with them while it is in operation. A piano-playing robot composed of a personal computer, a robotic arm, and a robotic hand is first developed to make a system that can play piano mechanically. Kinematic, dynamic equations, and Jacobian matrix for the robotic arm and the robotic finger are then derived for realtime control and simulation of the system. A study on the actions underlying sound generation in acoustic piano is carried out to have an insight into the relations between piano sound and keys' motion. These relations are later represented by neural networks. By using these relations, the piano-playing robot can produce fascinating music as a result of mimicking sample music. Experiment results demonstrate that the developed system outperforms existing systems in the sense of music attractiveness and make it a candidate to be used as a service robot in entertaining human being.
Development of a Piano-Playing Robot with Motion-Sound Mapping
Thai V. Hoang,박광현,Zeungnam Bien 동국대학교 정보융합기술원 2008 International Journal of Assistive Robotics and Sy Vol.9 No.3
This paper presents the developmentof a piano-playing robot with motion-sound mapping in order to provide the elderly a means of entertainment that can interact with them while it is in operation. A piano-playing robot composed of a personal computer, a robotic arm, and a robotic hand is first developed to make a system that can play piano mechanically. Kinematic, dynamic equations, and Jacobian matrix for the robotic arm and the robotic finger are then derived for realtime control and simulation of the system. A study on the actions underlying sound generation in acoustic piano is carried out to have an insight into the relations between piano sound and keys’ motion. These relations are later represented by neural networks. By using these relations, the pianoplaying robot can produce fascinating music as a result of mimicking sample music. Experiment results demonstrate that the developed system outperforms existing systems in the sense of music attractiveness and make it a candidate to be used as a service robot in entertaining human being.
박광현(Kwang-Hyun Park),정성훈(Seong-Hoon Jung),Christopher Pelczar,Thai V. Hoang,변증남(Zeungnam Bien) 대한전기학회 2007 대한전기학회 학술대회 논문집 Vol.2007 No.4
This paper presents a beat gesture recognition method to synchronize the tempo of a robot playing a piano with the desired tempo of the user. To detect an unstructured beat gesture expressed by any part of a body, we apply an optical flow method, and obtain the trajectories of the center of gravity and normalized central moments of moving objects in images. The period of a beat gesture is estimated from the results of the fast Fourier transform. In addition, we also apply a motion control method by which robotic fingers are trained to follow a set of trajectories. Since the ability to track the trajectories influences the sound a piano generates, we adopt an iterative learning control method to reduce the tracking error.