zhangyuyi99
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2 years ago Y. -F. Li and Chi-Yi Lai, "Intelligent algorithm for music playing robot — Applied to the anthropomorphic piano robot control," 2014 IEEE 23rd International Symposium on Industrial Electronics (ISIE), 2014, pp. 1538-1543, doi: 10.1109/ISIE.2014.6864843.
The control code generating program is responsible for calculating the hands moved position and the fingers rotated angle to make the finger rapping the right key with minimizing movement while a music note is translated to a control code. The intelligent algorithm will assign the rapping mission to the most adequate finger for the current hand position. Come from the mechanical structure of the two palms, seeing the picture of the palms and fingers in Fig. 7, the palms have different span for playing white key and black key even while the palm position change.
Function 1: Fingers rotated command combination and rapping timing calculation: Step (12) ~ Step (13) focus on the finger action control. The target controller is a parallel control system. Each finger has individual driving system. Then the robot can play chord music. In this step, the algorithm will check the chord notes and combine the fingers action in a control code for same time rapping requirement. Also, the beat time of every note will be decoded and the action timing will be precise calculated in the step.
Function 2; Peripheral initialization, hardware wake up, and actuators homing: Step (14) will link the host controller to the target controller and physical plant. The program should send the initializing codes to the controlled system and sense the response from the target controller to make sure the peripheral and physical system are ready.
Function 3; Rest and sustain note check: Step (15) ~ Step (16) hand out the task of timing check and hand positioning command calculation. Rest note means the robot doesn't rap the piano just idle and wait the time passing away without any mechanical action. The counterpart, sustain note, denotes the robot continues the rapping but doesn't change the palm and finger position in the interval of sustain note. The hands displacement commands are calculated in this step.
Function 4; Motion command execution: Step (17) ~ Step (22) are the final action control execution. From the view of robot control, every music note playing consists with many mechanical actions which imply the corresponding actuator control. In this step, the program will precise calculate the each mechanical action time, including the finger lifting, palm moving, finger rotating, and finger rapping, and control the commanding timing. Absolutely, all the actions should coordinate with the beats and rhythm of the music score.
Kato, I., Ohteru, S., Shirai, K., Matsushima, T., Narita, S., Sugano, S., ... & Fujisawa, E. (1987). The robot musician ‘wabot-2’(waseda robot-2). Robotics, 3(2), 143-155. https://d1wqtxts1xzle7.cloudfront.net/47150775/0167-8493_2887_2990002-720160710-18437-1nllsjl-with-cover-page-v2.pdf?Expires=1641402040&Signature=JVgmBoBRgLiUcuXlrGRZHj7xllG~EL9F1d~WOd4xKU9bTvQB4AzGIX1R3Er90yvYM4FO9BQYysrugqJGzotrXAbkoo3LLyDpXof3clTlqHpqYB7CUOJuwHbkkn2awK70yOSDOfRFapDKVlktFUeDaJjWejIy7rWFQz9mulc44kUQgnQxcb2bH2XOMglSdAHQ6IAh7xpMTM-zavBV8DWoxaHLZvkdO9P9Ic3x3zLaFvvWD3YEZIhKSUlQgXhClQ-Nu9A5oCWeIh~Xcs2c3CvnU9Cz0evCGbqlZ7wJwkA1DfnG8bPafpHzC9WdCLoKjJW3fC6SJkwRK676Yr6haDyM1A__&Key-Pair-Id=APKAJLOHF5GGSLRBV4ZA
The software algorithm based on the artificial intelligence to deal with information of a musical score automatically determined the cooperative movement of the fingers and the arms.
In algorithm, two evaluation functions are introduced. One is to determine the fingering such that rapid arm motions are avoided as much as possible, since motions of robot arms have much more confinement than those of fingers. The other is for adjusting the finger-arm coordination movements in the robot operation plan. Thereby, to select an operation plan where movements of the arm, without coordination with the fingers is avoided and coordination with the fingers is attained when the arm moves. By this algorithm, it becomes possible to automatically make a smooth finger and arm motion trajectory plan minimizing arm movements for given musical note strings.