相关论文: Mechatronics-Driven Musical Expressivity for Robot…
Humanoid robots have seen remarkable advances in dexterity, balance, and locomotion, yet their role in expressive domains such as music performance remains largely unexplored. Musical tasks, like drumming, present unique challenges,…
Artistic creation is often seen as a uniquely human endeavor, yet robots bring distinct advantages to music-making, such as precise tempo control, unpredictable rhythmic complexities, and the ability to coordinate intricate human and robot…
This work aims to develop an integrated control strategy for Brushless Direct Current Motors for a wide range of applications in robotics systems. The controller is suited for both high torque - low speed and high-speed control of the…
Robot musicians require precise control to obtain proper note accuracy, sound quality, and musical expression. Performance of string instruments, such as violin and cello, presents a significant challenge due to the precise control required…
This paper provides a technical review of position and speed sensorless methods for controlling Brushless Direct Current (BLDC) motor drives, including the background analysis using sensors, limitations and advances. The performance and…
The Accordiatron is a new MIDI controller for real-time performance based on the paradigm of a conventional squeeze box or concertina. It translates the gestures of a performer to the standard communication protocol of MIDI, allowing for…
This paper presents an innovative exploration into the integration of interactive robotic musicianship within a commercial retail environment, specifically through a three-week-long in-store installation featuring a UR3 robotic arm,…
A key step in the development of lightweight, high performance robotic systems is the modeling and selection of permanent magnet brushless direct current (BLDC) electric motors. Typical modeling analyses are completed a priori, and provide…
Reinforcement learning is a promising method to accomplish robotic control tasks. The task of playing musical instruments is, however, largely unexplored because it involves the challenge of achieving sequential goals - melodies - that have…
The design and evaluation of a robotic prosthesis for a drummer with a transradial amputation is presented. The principal objective of the prosthesis is to simulate the role fingers play in drumming. This primarily includes controlling the…
This paper explores the integration of visual communication and musical interaction by implementing a robotic camera within a "Guided Harmony" musical game. We aim to examine co-creative behaviors between human musicians and robotic…
This paper provides an analysis of a mixed-media experimental musical work that explores the integration of human musical interaction with a newly developed interface for the violin, manipulated by an improvising violinist, interactive…
This paper describes the robot technology behind an original performance that pairs a human dancer (Cuan) with an industrial robot arm for an eight-hour dance that unfolds over the timespan of an American workday. To control the robot arm,…
As robotic arms become prevalent in industry it is crucial to improve levels of trust from human collaborators. Low levels of trust in human-robot interaction can reduce overall performance and prevent full robot utilization. We…
As human-robot collaboration opportunities continue to expand, trust becomes ever more important for full engagement and utilization of robots. Affective trust, built on emotional relationship and interpersonal bonds is particularly…
This paper introduces the ACCompanion, an expressive accompaniment system. Similarly to a musician who accompanies a soloist playing a given musical piece, our system can produce a human-like rendition of the accompaniment part that follows…
Performing in-hand, contact-rich, and long-horizon dexterous manipulation remains an unsolved challenge in robotics. Prior hand dexterity works have considered each of these three challenges in isolation, yet do not combine these skills…
The MATRIX (Multipurpose Array of Tactile Rods for Interactive eXpression) is a new musical interface for amateurs and professionals alike. It gives users a 3- dimensional tangible interface to control music using their hands, and can be…
This paper proposes a method for direct torque control of Brushless DC (BLDC) motors. Evaluating the trapezium of back-EMF is needed, and is done via a sliding mode observer employing just one measurement of stator current. The effect of…
Drumming belongs to a family of musical instruments whose practice, whether as an amateur or at a high level, is associated with an increased risk of musculoskeletal disorders (MSD), particularly of the upper limbs and lumbar spine. The…