The interactive robotic percussionist - new developments in form, mechanics, perception and interaction design
The interactive robotic percussionist - new developments in form, mechanics, perception and interaction design
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交互式机器人打击乐手——形式、力学、感知和交互设计的新发展
DOI：
10.1145/1228716.1228730
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
S. Driscoll
中科院分区：
文献类型：
--
作者：
Gil Weinberg;S. Driscoll
我们提出了新的发展，即兴机器人探险家项目，旨在通过设计，力学和感知建模改善人机交互。我们的机器人名叫Haile，它能倾听真人玩家的演奏，实时分析他们演奏中的感知方面，并使用这种分析的结果以协作和即兴的方式沿着演奏。它旨在将算法音乐中计算能力的优势与声学演奏的表达和视觉交互性联合收割机结合起来。Haile的新功能包括拟人化形式，基于线性电机的机器人手臂，新颖的感知建模实现，以及许多新的交互方案。本文首先概述了相关的工作和介绍的目标和挑战的基础上海尔的原始设计。然后，我们描述了物理设计，力学，感知实现和交互设计的新发展，旨在改善与海尔的人机交互。最后，本文描述了一个用户研究，进行了努力，以评估新的功能和它们的有效性，以促进富有表现力的音乐人机交互。研究结果显示，人类与海尔的节奏感知之间的相关性，以及用户满意度对海尔的感知和机械能力。该研究还指出了需要改进的领域，例如需要更好的音色和响度控制以及更先进和更灵敏的交互方案。
We present new developments in the improvisational robotic percussionist project, aimed at improving human-robot interaction through design, mechanics, and perceptual modeling. Our robot, named Haile, listens to live human players, analyzes perceptual aspects in their playing in real-time, and uses the product of this analysis to play along in a collaborative and improvisatory manner. It is designed to combine the benefits of computational power in algorithmic music with the expression and visual interactivity of acoustic playing. Haile's new features include an anthropomorphic form, a linear-motor based robotic arm, a novel perceptual modeling implementation, and a number of new interaction schemes. The paper begins with an overview of related work and a presentation of goals and challenges based on Haile's original design. We then describe new developments in physical design, mechanics, perceptual implementation, and interaction design, aimed at improving human-robot interactions with Haile. The paper concludes with a description of a user study, conducted in an effort to evaluate the new functionalities and their effectiveness in facilitating expressive musical human-robot interaction. The results of the study show correlation between human's and Haile's rhythmic perception as well as user satisfaction regarding Haile's perceptual and mechanical abilties. The study also indicates areas for improvement such as the need for better timbre and loudness control and more advance and responsive interaction schemes.