Development of a piano playing robot with motion-sound mapping모션-사운드 매핑을 이용한 피아노 연주 로봇의 개발

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This thesis presents the development of a piano playing robot with motion-sound mapping in order to provide the elderly a means of entertainment that can interact with them while it is in operation. A piano playing robot composed of a personal computer, a robotic arm, and a robotic hand is first developed to make a system that can play piano mechanically. Kinematic, dynamic equations, and Jacobian matrix for the robotic arm and the robotic finger are then built for realtime control and simulation of the system. A study on the actions underlying sound generation in acoustic piano is carried out to have an insight into the relations between piano sound and keys’ motion. These relations are later represented by neural networks. By using these relations, the piano-playing robot can produce fascinating music as a result of mimicking sample music. Experiment results demonstrate that the developed system outperforms existing systems in the sense of music attractiveness and make it a candidate to be used as a service robot in entertaining human being.
Advisors
Hoang, V. ThairesearcherBien, Zeung-Namresearcher변증남researcher
Description
한국과학기술원 : 전기및전자공학전공,
Publisher
한국과학기술원
Issue Date
2007
Identifier
264983/325007  / 020054310
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 전기및전자공학전공, 2007.2, [ viii, 49 p. ]

Keywords

Piano playing robot; motion-sound mapping; 피아노 연주 로봇; 모션-사운드 매핑

URI
http://hdl.handle.net/10203/38472
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=264983&flag=dissertation
Appears in Collection
EE-Theses_Master(석사논문)
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