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Development of anthropomorphic musical performance robots: From understanding the nature of music performance to its application to entertainment robotics

机译:拟人化音乐表演机器人的开发:从理解音乐表演的本质到将其应用于娱乐机器人

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During several decades, the research at Waseda University has been focused on developing anthropomorphic robots able of performing musical instruments. More recently, the authors have succeeded in developing a human-like robot able of playing the alto saxophone. As a result of our research efforts, the Waseda flutist robot WF-4RIV and the Waseda saxophonist robot WAS-1 have been designed to reproduce the human player performance. Therefore, as a long-term goal, we are proposing to enable the interaction between musical performance robots (i.e. robots orchestra). Such approach may enable us not only to propose new ways of musical expression, but also we may contribute to the better understanding of some of the mechanisms that enable the communication of humans in musical terms. In general terms, the communication of humans within an orchestra is a special case of conventional human social behavior. Rhythm, harmony and timbre of the music played represent the emotional states of the musicians. Of course, we are not considering a musical performance robot (MPR) just as a mere sophisticated MIDI instrument. Instead, its human-like design and the integration of perceptual capabilities may enable to act on its own autonomous initiative based on models which consider its own physical constrains. Due to the complexity of our long-term goal, in this paper, we are presenting our first steps towards enabling the interaction between musical performance robots. In particular, the details of the musical performance control systems are detailed. Thanks to the use of MIDI data, we performed preliminary experiments to enable a duet performance between the WF-4RIV and the WAS-1. We expect in the future; as a result of our research, we may enable a single anthropomorphic robot to perform different kinds of woodwind instruments as well as enable to interact at with level of perceptual capabilities (like human does).
机译:几十年来,早稻田大学的研究一直集中在开发能够演奏乐器的拟人化机器人上。最近,作者成功地开发了一种能够演奏中音萨克斯风的类人机器人。作为我们研究工作的结果,早稻田长笛演奏机器人WF-4RIV和早稻田萨克斯演奏机器人WAS-1旨在重现人类演奏者的演奏。因此,作为一项长期目标,我们建议实现演奏机器人(即机器人乐团)之间的交互。这种方法不仅可以使我们提出新的音乐表达方式,而且可以有助于更好地理解某些使人们能够用音乐交流的机制。一般而言,乐团中人与人之间的交流是常规人的社会行为的特例。演奏音乐的节奏,和谐与音色代表着音乐家的情感状态。当然,我们并没有考虑将音乐演奏机器人(MPR)仅仅视为一种复杂的MIDI乐器。取而代之的是,其类似人的设计和感知能力的集成可能使它能够基于考虑自身约束的模型,根据自己的自主权采取行动。由于我们长期目标的复杂性,在本文中,我们介绍了实现音乐演奏机器人之间交互的第一步。特别地,音乐演奏控制系统的细节被详细描述。由于使用了MIDI数据,我们进行了初步实验,以使WF-4RIV和WAS-1之间具有二重奏性能。我们期望在未来;作为我们研究的结果,我们可以使单个拟人机器人执行不同种类的木管乐器,并且可以在感知能力水平上进行交互(就像人类一样)。

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