The waseda flutist robot No. 4 refined IV: enhancing the sound clarity and the articulation between notes by improving the design of the lips and tonguing mechanisms
The waseda flutist robot No. 4 refined IV: enhancing the sound clarity and the articulation between notes by improving the design of the lips and tonguing mechanisms
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早稻田长笛演奏机器人4号精炼IV：通过改进嘴唇和吐舌机构的设计，增强声音清晰度和音符之间的清晰度
DOI：
10.1109/iros.2007.4399081
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发表时间：
2007
期刊：
影响因子：
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通讯作者：
A. Takanishi
中科院分区：
文献类型：
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作者：
J. Solis;K. Taniguchi;T. Ninomiya;Tetsuro Yamamoto;A. Takanishi
根据我们的研究结果，早稻田长笛手机器人能够演奏长笛几乎类似于一个中级水平的长笛手。为了增强其演奏的表现力，我们的研究重点是改进模拟风琴的机械设计以及实现自动算法来生成富有表现力的音乐表演。在之前的一项研究中，我们开发了一种类似人类的声带来改善颤音的产生。在本文中，我们介绍了最新版本的长笛手机器人；其中嘴唇，口腔和舌头的机制得到改善。这些改进是为了有效地控制攻击时间和重复舌头。攻击时间有助于发出清晰的声音，而双舌是一种重要的发音方式，可以帮助演奏者发出有形状的音符和音符之间的平滑过渡。唇部机构由3自由度组成，可以精确控制气流参数（宽度，厚度和角度）。机器人的嘴唇使用热塑性橡胶（septon）设计得更像人类。口腔的设计与人类的相似，也是由塞普顿制作的。在口腔内，设计了一种改进的舌动机构（1-DOF），以更好地再现双舌技术。通过一组实验分析了笛子吹奏时声音动态特性的改善。
As a result from our research, the Waseda Flutist Robot is able of playing the flute nearly similar to an intermediate level flutist. In order to enhance the expressiveness of its performance, we are focusing our research on improving the mechanical design of the simulated organs as well as implementing automated algorithms for the generation of expressive music performance. In a previous research, we have developed a human-like vocal cord to improve the production of vibrato. In this paper, we are presenting the newest version of the flutist robot; where the lips, oral cavity and tonguing mechanisms were improved. Such improvements were proposed to effectively control the attack time and double tonguing. The attack time is useful to produce clear sounds and the double tonguing is an important articulation that helps players to produce shaped notes and smooth transitions between notes. The lips mechanism is composed by 3-DOFs which enables the accurate control of the air stream parameters (width, thickness and angle). The lips of the robot were designed more human-like by using a thermoplastic rubber (septon). The oral cavity was designed similar to the human one also made by septon. Inside the oral cavity, an improved tonguing mechanism was designed (1-DOF) to reproduce better the double tonguing technique. A set of experiments were performed to analyze the improvements on the dynamical properties of the sound while playing the flute.
早稻田大学拟人化长笛演奏机器人的开发
DOI：
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发表时间：
2006
期刊：
International Journal of Humanoid Robots (In Press)
影响因子：
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作者：
Solis J.;Chida;K.;Suefuji;K.;Takanishi;A.
通讯作者：
A.
改进拟人长笛演奏机器人（WF-4R）的听觉感知处理，以有效地与人类互动
DOI：
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发表时间：
2005
期刊：
IEBE International Workshop on Robots and Human Interactive Communications (RO-MAN) (Submitted and in Process)
影响因子：
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作者：
J.Solis;K.Chida;K.Suefuji;A.Takanishi
通讯作者：
A.Takanishi