Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2007.04a
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- Pages.334-336
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- 2007
Development of Piano Playing Robot
피아노 연주 로봇의 개발
- Park, Kwang-Hyun ;
- Jung, Seong-Hoon ;
- Pelczar, Christopher ;
- Hoang, Thai V. (Hanoi Univ. of Technology) ;
- Bien, Zeung-Nam
- Published : 2007.04.27
Abstract
This paper presents a beat gesture recognition method to synchronize the tempo of a robot playing a piano with the desired tempo of the user. To detect an unstructured beat gesture expressed by any part of a body, we apply an optical flow method, and obtain the trajectories of the center of gravity and normalized central moments of moving objects in images. The period of a beat gesture is estimated from the results of the fast Fourier transform. In addition, we also apply a motion control method by which robotic fingers are trained to follow a set of trajectories, Since the ability to track the trajectories influences the sound a piano generates, we adopt an iterative learning control method to reduce the tracking error.