Development of an Anthropomorphic Flutist Robot.

摘要

There have been a lot of auto wind instrument playing systems, but almost all of them consist of several functions which are independent each other and they are not anthropomorphic. Therefore, since 1990 we have been developing an Anthropomorphic Flutist Robot, which is the mechanical and control model being designed similar to human organs on flute playing, in order to clarify the mechanism on one's flute playing from engineering view point. In 1990 we developed the expiration-inspiration system which models human lung in flute playing, and realized that the robot blew the flute through the first octave keeping the temperament interval by controlling air beam velocity only. In 1991 we added the playing attitude control system to this robot which can position its lips on the mouthpiece of the flute, and the robot realized to blow the flute through the first and second octave keeping the temperament interval by controlling air beam velocity and playing attitude.