Adaptive Pitch Control for Robot Thereminist using Unscented Kalman Filter
Adaptive Pitch Control for Robot Thereminist using Unscented Kalman Filter
复制标题
使用无迹卡尔曼滤波器的机器人 Thereminist 的自适应音调控制
DOI：
10.1007/978-3-642-30732-4_3
复制
发表时间：
2012
期刊：
影响因子：
--
通讯作者：
et al.
中科院分区：
文献类型：
--
作者：
Takeshi Mizumot;et al.
提出了一种用于演奏合奏机器人的自适应螺距控制方法。特雷门琴演奏的问题在于它对环境的敏感性。这降低了音高精度，因为它的音高特性是由诸如合奏期间的协奏者运动引起的时变的。我们使用状态空间模型和无迹卡尔曼滤波来解决这一问题。实验结果表明，与扩展卡尔曼滤波法和分块更新法相比，我们的方法平均降低了90%和77%的基音误差，机器人演奏乐谱的平均误差为72.9美分。
We present an adaptive pitch control method for a theremin playing robot in ensemble. The problem of the theremin playing is its sensitivity to the environment. This degrades the pitch accuracy because its pitch characteristics are time varying caused by, such as a co-player motion during the ensemble. We solve this problem using a state space model of this characteristics and an unscented Kalman filter. Experimental results show that our method reduces the pitch error the EKF and block-wise update method by 90% and 77% on average, and the robot can play a musical score of 72.9 cent error on average.