TY - GEN
T1 - Force and Impedance Control for Automatic Violin Performance
AU - Fujisaki, Kodai
AU - Kurumatani, Hiroki
AU - Katsura, Seiichiro
N1 - Funding Information:
ACKNOWLEDGMENTS This research was partially supported by the Ministry of Internal Affairs and Communications, Strategic Information and Communications R&D Promotion Programme (SCOPE), 201603011, 2020.
Publisher Copyright:
© 2020 IEEE.
PY - 2020/6
Y1 - 2020/6
N2 - Bowing a string requires not only the control of the position and velocity of the bow but also the control of impedance. Once the string starts vibrating, the vibration propagates through the bow to the arm holding the bow. Depending on the responsiveness or the impedance of the arm, the resulting motion changes. Therefore, this paper proposes the use of force and impedance control for reproducing the task of violin performance. We used a simple two-link manipulator to conduct experiments. The first experiment aims to identify the range of force and velocity necessary for the string to follow a periodic motion. Within the range, the second experiment examines the relationship between impedance gains and the timbre of the violin. In the last experiment, the performance of the robot is compared with the performance of an experienced violin player. Through the experiments, this paper verifies the effectiveness of force and impedance control in reproducing violin performance.
AB - Bowing a string requires not only the control of the position and velocity of the bow but also the control of impedance. Once the string starts vibrating, the vibration propagates through the bow to the arm holding the bow. Depending on the responsiveness or the impedance of the arm, the resulting motion changes. Therefore, this paper proposes the use of force and impedance control for reproducing the task of violin performance. We used a simple two-link manipulator to conduct experiments. The first experiment aims to identify the range of force and velocity necessary for the string to follow a periodic motion. Within the range, the second experiment examines the relationship between impedance gains and the timbre of the violin. In the last experiment, the performance of the robot is compared with the performance of an experienced violin player. Through the experiments, this paper verifies the effectiveness of force and impedance control in reproducing violin performance.
KW - impedance control
KW - motion
KW - robot
KW - sound
KW - violin
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U2 - 10.1109/ISIE45063.2020.9152550
DO - 10.1109/ISIE45063.2020.9152550
M3 - Conference contribution
AN - SCOPUS:85089472984
T3 - IEEE International Symposium on Industrial Electronics
SP - 1578
EP - 1583
BT - 2020 IEEE 29th International Symposium on Industrial Electronics, ISIE 2020 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 29th IEEE International Symposium on Industrial Electronics, ISIE 2020
Y2 - 17 June 2020 through 19 June 2020
ER -