JPH081562A - Robot finger-hit playing device for electronic piano having small number of keys - Google Patents
Robot finger-hit playing device for electronic piano having small number of keysInfo
- Publication number
- JPH081562A JPH081562A JP6157870A JP15787094A JPH081562A JP H081562 A JPH081562 A JP H081562A JP 6157870 A JP6157870 A JP 6157870A JP 15787094 A JP15787094 A JP 15787094A JP H081562 A JPH081562 A JP H081562A
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- JP
- Japan
- Prior art keywords
- robot
- keyboard
- fingers
- performance
- pseudo
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
Landscapes
- Electrophonic Musical Instruments (AREA)
- Manipulator (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、擬指を有するロボット
の鍵盤指打によるピアノ演奏装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a piano playing apparatus by keyboard finger striking of a robot having a pseudo finger.
【０００２】[0002]
【従来の技術】ロボットの指打による自動ピアノ演奏装
置として、これまで、擬指を持ったロボットが全音階ピ
アノ鍵盤を叩いて演奏する電子ピアノの演奏装置が提案
されている。これは、ロボットの擬指に鍵盤を叩く駆動
部を備えると共にその擬指の鍵盤に移動する駆動部を備
えて指打する電子ピアノの演奏装置である。そして、入
力した前記演奏情報によってロボットが指打して演奏さ
せ音声出力を行なうものである。前記全音階ピアノ鍵盤
にロボットを演奏させることは、重量のあるロボットを
大きい移動範囲操作することと、さらに移動させながら
の演奏操作となるので極めて操作が困難であった。また
少ない鍵盤で演奏させるには曲が限られ、ごく簡単なメ
ロデ−しか演奏できず単調過ぎて味気ないものしかでき
なかった。他方、電子ピアノ装置自体には、打鍵によっ
て発せられる音階を移調演奏させる装置を備えるものが
提供されている。しかしその装置は演奏する曲全体を移
調するものであり、個々の音階を適宜移調させて演奏さ
せるものではない。2. Description of the Related Art As an automatic piano playing device by finger striking of a robot, a playing device of an electronic piano in which a robot having a pseudo finger strikes a diatonic piano keyboard to perform has been proposed. This is an electronic piano playing device in which a virtual finger of a robot is provided with a drive unit for striking the keyboard and a drive unit for moving the pseudo finger to the keyboard is used for finger striking. Then, according to the input performance information, the robot makes a finger to perform a performance and outputs a voice. Playing a robot on the diatonic piano keyboard is extremely difficult because it involves operating a heavy robot in a large moving range and performing playing while moving the robot further. Also, the number of songs was limited to play with a few keyboards, and I could only play very simple melodies, and I could only play dull and monotonous. On the other hand, the electronic piano device itself is provided with a device for transposing a musical scale produced by keystrokes. However, the device transposes the entire musical piece to be played, and does not transpose the individual scales as appropriate for performance.
【０００３】[0003]
【発明が解決しようとする課題】本発明はかかる実情に
鑑みてなされたもので、ロボットの指打によってコンパ
クトな少数鍵盤でも、複雑な全音階での演奏ができる電
子ピアノの装置を提供するものである。SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and provides an electronic piano device capable of playing in a complex diatonic scale even with a small number of keyboards that are compact by the finger striking of a robot. Is.
【０００４】[0004]
【課題を解決するための手段】本発明は上記課題を解決
するために、少なくとも１オクタ−ブ分１２個の少数鍵
盤２を備えた電子ピアノ１と、前記電子ピアノ１の鍵盤
２上に単数又は複数の擬指６，７を配して、その擬指
６，７にて鍵盤２を叩く駆動部１０，１１を備えると共
に前記鍵盤２の範囲に擬指６，７を移動する駆動部８，
９を備えたロボット３と、そのロボット３を操作するコ
ンピュ−タ１２を備えたプロクラムによる演奏情報処理
指令系とから構成される。そして、予め演奏プログラム
を作成しておき、原楽譜から演奏情報を書換えしてコン
ピュ−タ１２に入力し、ロボット３の操作系への信号の
出力によってロボット３の駆動部１０，１１及び移動駆
動部８，９を作動させて擬指６，７で鍵盤２を叩かせる
と共に、演奏プログラムによってオクタ−ブ移調変換を
行なって、原楽譜の全音音階に転換して音声出力を行な
えるようにしたビアノ演奏装置である。In order to solve the above-mentioned problems, the present invention provides an electronic piano 1 provided with at least 12 minor keyboards 2 for one octave, and a single keyboard 2 of the electronic piano 1. Alternatively, a plurality of pseudo fingers 6, 7 are arranged, and drive sections 10, 11 for hitting the keyboard 2 with the pseudo fingers 6, 7 are provided, and a drive section 8 for moving the pseudo fingers 6, 7 within the range of the keyboard 2. ，
9 and a performance information processing command system by a program having a computer 12 for operating the robot 3. Then, a performance program is created in advance, the performance information is rewritten from the original musical score, and the performance information is input to the computer 12. By outputting a signal to the operation system of the robot 3, the drive units 10 and 11 of the robot 3 and the movement drive. The parts 8 and 9 are operated to strike the keyboard 2 with the pseudo fingers 6 and 7, and octave transposition conversion is performed by the performance program so that the diatonic scale of the original score can be converted to output the sound. It is a Viano playing device.
【０００５】また、前記ロボット３にア−ム４，５を二
本備える。そして、それぞれのア−ム４，５に備えた擬
指６，７を鍵盤２上で交差可能に移動できるようにし、
一方の擬指６でメロデ−を演奏し、他方の擬指７で和音
又は伴奏を演奏できるようにしたものである。さらに、
前記ロボット３の擬指６，７を五本指として演奏できる
ようにしたものである。さらにまた、前記ロボット３の
外観を、人体に似せて作成し、その顔面１６の器官及び
身体を動かす駆動部を備え、指打演奏に顔面１６の器官
及び身体の動きを伴わせながら歌詩の音声を発すること
ができるようにしたものである。Further, the robot 3 is provided with two arms 4 and 5. Then, the pseudo fingers 6 and 7 provided for the respective arms 4 and 5 are allowed to move on the keyboard 2 so as to be crossable,
One pseudo finger 6 is used to play a melody, and the other pseudo finger 7 is used to play a chord or an accompaniment. further,
The virtual fingers 6, 7 of the robot 3 can be played as five fingers. Furthermore, the robot 3 is made to look like a human body, and a driving unit for moving the organs and body of the face 16 is provided. It is designed so that a voice can be emitted.
【０００６】[0006]
【作用】本発明は上記のようで、ロボット３の擬指２が
少数鍵盤（１オクタ−ブ分１２個の鍵盤）の狭い範囲で
駆動して打鍵すると、予め作成されたプログラムによる
コンピュ−タのオクタ−ブ移調変換処理によって、１オ
クタ−ブ分の小数鍵盤にもかかわらずオクタ−ブ移調変
換されて全音音階の楽譜の演奏をすることができる。ま
た、ロボット３の擬指２の演奏と、顔面１６の器官及び
身体が連動駆動されながら歌詩の音声が発せられる。According to the present invention as described above, when the pseudo finger 2 of the robot 3 is driven in a narrow range of a small number of keys (12 keys for one octave) to hit a key, a computer based on a program created in advance is used. By the octave transposing conversion process of, the octave transposing conversion is performed in spite of the decimal keyboard for one octave, and the musical score of the whole scale can be played. Further, the performance of the pseudo finger 2 of the robot 3 and the organ and body of the face 16 are driven in conjunction with each other, and the voice of the song is uttered.
【０００７】[0007]
【実施例】本発明の実施例を示す図で説明すると、図１
の略図に示すように、２オクタ−ブ分の白鍵２ａが１８
個と黒鍵２ｂが１３個を備える少数鍵盤２の電子ピアノ
１に向けて、その電子ピアノ１を演奏するロボット３を
配する。そのロボット３には２本のア−ム４，５を備
え、そのア−ム４，５には各５本の擬指６，７を備え
る。そして前記擬指６，７を前記電子ピアノ１の鍵盤２
上に配設し、左右の擬指６，７が少数鍵盤２の各鍵盤を
叩けるように擬指６，７を鍵盤２上で交差可能に移動で
きるようにする。そして、予め楽譜から和音の演奏情報
作成しておきロボット３の操作系に前記和音の演奏情報
を入力して前記左手ア−ム４の擬指６で和音又は伴奏を
演奏し、右手ア−ム５の擬指７でメロデ−を演奏させ
る。その擬指６，７には、鍵盤２を叩く駆動部１０，１
１を備えると共に前記少数鍵盤２上の小範囲に擬指６，
７を移動する駆動部８，９を備える。DESCRIPTION OF THE PREFERRED EMBODIMENTS Referring to the drawings showing an embodiment of the present invention, FIG.
As shown in the schematic diagram, the white key 2a for two octaves is 18
A robot 3 for playing the electronic piano 1 is arranged toward the electronic piano 1 of the minor keyboard 2 having 13 keys and 13 black keys 2b. The robot 3 is provided with two arms 4 and 5, and the arms 4 and 5 are provided with five pseudo fingers 6 and 7, respectively. Then, the dummy fingers 6 and 7 are connected to the keyboard 2 of the electronic piano 1.
The pseudo fingers 6 and 7 are arranged on the keyboard 2 so that the pseudo fingers 6 and 7 on the left and right can hit each keyboard of the minority keyboard 2 so as to be crossable on the keyboard 2. Then, the performance information of the chord is created in advance from the score, and the performance information of the chord is input to the operation system of the robot 3, the chord or accompaniment is played by the pseudo finger 6 of the left hand arm 4, and the right hand arm. Play the melody with the pseudo finger 7 of 5. The pseudo fingers 6 and 7 are driven by the drive units 10 and 1 that strike the keyboard 2.
1 and a pseudo finger 6, in a small area on the minor keyboard 2,
Drive units 8 and 9 for moving 7 are provided.
【０００８】演奏行為は、コンピュ−タ１２を備えた演
奏情報処理指令系の指令により前記ロボット３を操作し
て行なう。その演奏情報処理の演奏プログラムは予め作
成しておく。そして原楽譜から演奏情報を書換えして入
力し、コンピュ−タ１２のロボット３の操作系への信号
の出力によってロボット３の擬指６，７で鍵盤２を叩い
てその音階を演奏させると共に、前記ロボット３への出
力と音符デ−タ変換ソフトによってオクタ−ブ移調変換
を行なって、原楽譜の全音音階に変換してスピ−カ−１
４から音声出力を行なう。A performance action is performed by operating the robot 3 in accordance with a command of a performance information processing command system having a computer 12. A performance program for the performance information processing is created in advance. Then, the performance information is rewritten and input from the original musical score, and the keyboard 2 is struck by the pseudo fingers 6 and 7 of the robot 3 by the output of the signal to the operation system of the robot 3 of the computer 12 to play the scale. The output to the robot 3 and octave transposition conversion are performed by the note data conversion software, and converted into the diatonic scale of the original musical score to produce the speaker-1.
Voice output from 4.
【０００９】また、前記ロボット３には、顔面１６に備
えた目１７、口１８及び首２１を動かす駆動部１９，２
０，２２を備える。そして、ロボット３の指打演奏に連
動して前記駆動部１９，２０，２２を動かして歌詩の音
声をスピ−カ−１５から発するようにする。前記ロボッ
ト各部の駆動部は、圧縮空気２３でのエア−コントロ−
ラ−１３による駆動及びソレノイド駆動などによって操
作する（図１中の配線、エア−チュ−ブを省略）。In addition, the robot 3 has driving units 19 and 2 for moving the eyes 17, mouth 18 and neck 21 provided on the face 16.
0 and 22 are provided. Then, the driving portions 19, 20, and 22 are moved in association with the finger striking performance of the robot 3 so that the voice of the song poem is emitted from the speaker 15. The drive unit of each part of the robot is an air controller using compressed air 23.
It is operated by the drive by the laser 13 and the solenoid drive (the wiring and the air tube in FIG. 1 are omitted).
【００１０】前記ロボット３の駆動と入出力回路系統
は、図２に示すように、プログラムコントロラ−の制御
により演奏する。そのプログラムコントロラ−には、電
源ユニット、ＰＣリンクユニット、音符デ−タ変換ソフ
ト、入力ユニット、音声出力ユニット、出力ユニットソ
レノイド駆動、出力ユニットが備わり、それらの各ユニ
ットによるコンピュ−タ１２のロボット３の操作系への
信号の出力によって、ロボット３の擬指６，７を操作し
て出力回路から演奏された音声がスピ−カ−１４，１５
で発せられる。The driving and input / output circuit system of the robot 3 is played under the control of a program controller as shown in FIG. The program controller includes a power supply unit, a PC link unit, a note data conversion software, an input unit, a voice output unit, an output unit solenoid drive, and an output unit, and the robot 3 of the computer 12 by each of these units. When the pseudo fingers 6 and 7 of the robot 3 are operated by the output of the signal to the operation system of the robot, the voice played from the output circuit is changed to the speakers 14 and 15
Is emitted in.
【００１１】メロデ−の楽譜を演奏する場合の具体的な
事例を図３で説明すると、図３は同図（ロ）に示すメロ
デ−楽譜を演奏する時のロボット３の擬指７による打鍵
と、移調との関係を示すものである。図の（イ）に示す
鍵盤２に右手擬指７がそのパ−ト１右手部分に位置され
駆動される。その図（イ）の鍵盤２の上に図示されたＢ
とＣブロックで１オクタ−ブとなる。図の（イ）の１〜
１２が鍵盤ＮＯ．であり、同図中のＡ００、Ａ０１、Ａ
１０、Ｂ００、Ｂ０１、Ｂ１０は移調ＮＯ．であり、合
計６種のオクタ−ブ移調変換されることを示す。また、
同図３の（ハ）に示す擬指７（擬指ＮＯ．で示す番号）
が夫々上下操作されて、各鍵盤２を叩く。即ち、楽譜
（同図３の（ロ）に示す）の最初の音「フラットのミ」
は、右手の擬指ＮＯ．３で（イ）に示す鍵盤ＮＯ．９を
叩き、移調ＮＯ．Ｂ１０のＢ３に移調する。次ぎの楽譜
の「ド」は、右手擬指ＮＯ．１で鍵盤ＮＯ．５を叩き、
移調ＮＯ．Ｂ００のＣ１２に移調する。その次ぎの楽譜
の「レ」以下も同様に移調しながら演奏する。A concrete example of playing the musical score of the melody will be described with reference to FIG. 3. FIG. 3 shows keystrokes by the pseudo finger 7 of the robot 3 when playing the musical score shown in FIG. , And the relationship with transposition. A right-hand pseudo finger 7 is positioned on the right hand portion of the part 1 on the keyboard 2 shown in FIG. B shown on the keyboard 2 of FIG.
And it becomes 1 octave in C block. 1 of (a) in the figure
12 is the keyboard NO. And A00, A01, A in the figure
10, B00, B01, B10 are transposition NO. Which means that a total of 6 types of octave transposition conversion are performed. Also,
Formal finger 7 shown in (c) of FIG. 3 (number indicated by pseudo finger NO.)
Are respectively operated up and down to strike each keyboard 2. That is, the first note "flat midi" of the score (shown in (b) of FIG. 3)
Is the pseudo finger NO. Of the right hand. Keyboard No. 3 shown in (a). Hit No. 9 and transpose NO. Transpose to B3 of B10. In the next score, "do" is the right-hand pseudo finger NO. No. 1 keyboard NO. Hit 5
Transposition NO. Transpose to C12 of B00. Perform the following transpositions in the same way, transposing in the same way.
【００１２】また、和音や伴奏を付ける場合は、図３の
（イ）に示す鍵盤２のＢ，Ｃブロックを共有してこの１
オクタ−ブで左手擬指６が前記右手パ−ト１部分の上に
鍵盤２上で交差可能に移動できるように重なるように位
置させて、左手パ−ト２部分と共に右手パ−ト１部分の
鍵盤２も左手擬指６が夫々上下操作されて、前記メロデ
−の場合と同様に鍵盤２を叩く。また、前記の鍵盤２と
同様のＢ，Ｃブロックで１オクタ−ブの鍵盤をもう一式
備えて、左手擬指６で前記右手擬指７と同様に夫々上下
操作されて、前記メロデ−の場合と同様に和音や伴奏を
演奏することもできる。前記演奏情報は一度作成すれ
ば、フロッピ−ディスクやＲＯＭチップ等の記憶媒体に
入力しおき、何度も同じ曲を入力して演奏することがで
きる。When adding chords or accompaniment, the B and C blocks of the keyboard 2 shown in FIG.
In the octave, the left pseudo finger 6 is positioned so as to overlap with the right hand part 1 so as to be crossable on the keyboard 2, and the left hand part 2 and the right hand part 1 are also placed. In the keyboard 2, the left-handed pseudo finger 6 is operated up and down, and the keyboard 2 is tapped as in the case of the melody. In addition, in the case of the melody, the keyboard is provided with another set of 1 octave keyboard with B and C blocks similar to the keyboard 2, and the left and right artificial fingers 6 are respectively operated up and down like the right artificial finger 7. You can play chords and accompaniments as well. Once the performance information is created, it can be input to a storage medium such as a floppy disk or a ROM chip, and the same music can be input many times to play.
【００１３】[0013]
【発明の効果】本発明は以上のようで、少なくとも１オ
クタ−ブ分１２個の鍵盤２を備えた少数鍵盤２の電子ピ
アノ１をロボット３の鍵盤２指打と同時に音楽情報をオ
クタ−ブ移調変換させることによって全音階の楽譜を演
奏させることができる。擬指６，７を有する両手ア−ム
４，５のロボット３を使用すれば、メロデ−と共に和音
や伴奏も引ける。またその演奏に合せて、ロボット３の
身体を動かしながら歌音も発することも可能となる。こ
のように、少数鍵盤２にも拘わらず、全音階の複雑な楽
譜を和音を背景に演奏することができると共に、歌詩を
歌いながら、口１８、目１７や身体を動かしてボデイラ
ンゲ−ジを行なうことができ、そのためにこのロボット
演奏によって聴衆を飽きさせないで魅了するであろう。The present invention is as described above, and an electronic piano 1 having a minority keyboard 2 provided with at least 12 keyboards 2 for one octave is used to octave musical information simultaneously with the keyboard 2 fingers of the robot 3. By performing transposition conversion, it is possible to play a musical score of a diatonic scale. By using the robot 3 having two-armed arms 4 and 5 having pseudo fingers 6 and 7, chords and accompaniments can be drawn together with the melody. It is also possible to produce a singing sound while moving the body of the robot 3 in accordance with the performance. In this way, in spite of the small number of keyboards 2, it is possible to play a complex musical score of a diatonic scale with chords in the background, and move the mouth 18, eyes 17 and body while singing a poem to play the body language. It can be done, and will therefore keep the audience captivated by this robot playing.
【図１】本発明の略図的斜視図。FIG. 1 is a schematic perspective view of the present invention.
【図２】略図的回路系統図。FIG. 2 is a schematic circuit system diagram.
【図３】楽譜音階での擬指との対応関係を示すオクタ−
ブ移調変換の概念図。FIG. 3 is an octal showing the correspondence with a pseudo finger in a musical scale.
A conceptual diagram of transposition conversion.
１ 電子ピアノ ２ 鍵盤 ２ａ 白鍵 ２ｂ 黒鍵 ３ ロボット ４ ア−ム ５ ア−ム ６ 擬指 ７ 擬指 ８ 駆動部 ９ 駆動部 １０ 駆動部 １１ 駆動部 １２ コンピュ−タ １３ エア−コントロ−ラ− １４ スピ−カ− １５ スピ−カ− １６ 顔面 １７ 目 １８ 口 １９ 駆動部 ２０ 駆動部 ２１ 首 ２２ 駆動部 ２３ 圧縮空気 1 Electronic Piano 2 Keyboard 2a White Key 2b Black Key 3 Robot 4 Arm 5 Arm 6 Pseudo-finger 7 Pseudo-finger 8 Drive part 9 Drive part 10 Drive part 11 Drive part 12 Computer 13 Air-controller 14 Speaker 15 Speaker 16 Face 17 Eyes 18 Mouth 19 Driving part 20 Driving part 21 Neck 22 Driving part 23 Compressed air
Claims (4)
鍵盤（２）を備えた電子ピアノ（１）と、前記電子ピア
ノ（１）の鍵盤（２）上に単数又は複数の擬指（６），
（７）を配して、その擬指（６），（７）にて鍵盤
（２）を叩く駆動部（１０）（１１）を備えると共に前
記鍵盤（２）の範囲に擬指（６），（７）を移動する駆
動部（８），（９）を備えたロボット（３）と、そのロ
ボット（３）を操作するコンピュ−タ（１２）を備えた
プロクラムによる演奏情報処理指令系とから成り、予め
演奏プログラムを作成しておき、原楽譜から演奏情報を
書換えしてコンピュ−タ（１２）に入力し、ロボット
（３）の操作系への信号の出力によってロボット（３）
の駆動部（１０），（１１）及び移動駆動部（８），
（９）を作動させて擬指（６），（７）で鍵盤（２）を
叩かせると共に、演奏プログラムによってオクタ−ブ移
調変換を行なって、原楽譜の全音音階に変換して音声出
力を行なえるようにしたことを特徴とする少数鍵盤電子
ピアノでのロボット指打演奏装置。1. An electronic piano (1) equipped with at least one octave (12) minor keys (2), and one or more pseudo fingers (6) on the keyboard (2) of the electronic piano (1). ),
(7) is arranged, and the pseudo fingers (6) and (7) are provided with drive units (10) and (11) for striking the keyboard (2), and the pseudo fingers (6) are placed in the range of the keyboard (2). , (7) with a drive unit (8) and (9) for moving, and a performance information processing system by a program with a computer (12) for operating the robot (3) The performance program is created in advance, the performance information is rewritten from the original musical score and input to the computer (12), and the robot (3) is operated by outputting a signal to the operation system of the robot (3).
Drive units (10) and (11) and movement drive units (8),
(9) is operated to strike the keyboard (2) with the pseudo fingers (6) and (7), and octave transposition conversion is performed by the performance program to convert it into the diatonic scale of the original musical score and output the voice. A robot finger striking device for a small-keyboard electronic piano characterized by being able to perform.
を二本備え、それぞれのア−ム（４），（５）に備えた
擬指（６），（７）を鍵盤（２）上で交差可能に移動で
きるようにし、一方の擬指（６）でメロデ−を演奏し、
他方の擬指（７）で和音又は伴奏を演できるようにした
ことを特徴とする請求項１の少数鍵盤電子ピアノでのロ
ボット指打演奏装置。2. An arm (4), (5) for a robot (3)
Two pseudo fingers (6) and (7) provided for the respective arms (4) and (5) so that they can be crossed on the keyboard (2), and one pseudo finger (6) ) To play the melody,
The robot finger tap performance device for a minor keyboard electronic piano according to claim 1, wherein a chord or an accompaniment can be played by the other pseudo finger (7).
五本指として演奏できるようにしたことを特徴とする請
求項１又は２の少数鍵盤電子ピアノでのロボット指打演
奏装置。3. The robot finger tapping performance on the minor keyboard electronic piano according to claim 1 or 2, wherein the pseudo fingers (6) and (7) of the robot (3) can be played as five fingers. apparatus.
成され、顔面（１６）の器官及び身体を動かす駆動部を
備え、指打演奏に連動して前記駆動部を動かして顔面
（１６）の器官及び身体の動きを伴わせながら歌詩の音
声を発することができるようにしたこと特徴とする請求
項１乃至３のうちいずれか一項記載の少数鍵盤電子ピア
ノでのロボット指打演奏装置。4. The robot (3) is made to look like a human body, and is provided with a driving unit for moving the organs and body of the face (16), and the driving unit is moved in conjunction with finger striking performance to move the face (16). 4. The robot finger tapping performance on the minor keyboard electronic piano according to any one of claims 1 to 3, characterized in that it is possible to emit the voice of the poetry along with the movement of the organ and body. apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6157870A JP2720305B2 (en) | 1994-06-16 | 1994-06-16 | Robot fingering performance device with few keys electronic piano |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6157870A JP2720305B2 (en) | 1994-06-16 | 1994-06-16 | Robot fingering performance device with few keys electronic piano |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH081562A true JPH081562A (en) | 1996-01-09 |
| JP2720305B2 JP2720305B2 (en) | 1998-03-04 |
Family
ID=15659210
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6157870A Expired - Lifetime JP2720305B2 (en) | 1994-06-16 | 1994-06-16 | Robot fingering performance device with few keys electronic piano |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2720305B2 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101825896A (en) * | 2010-05-24 | 2010-09-08 | 上海电气集团股份有限公司 | Robot playing the dulcimer and control method |
| JP2012137727A (en) * | 2010-12-24 | 2012-07-19 | National Taiwan Univ Of Science & Technology | Robot system and chord performance method using robot system |
| KR101307595B1 (en) * | 2011-12-28 | 2013-09-12 | 한국기술교육대학교 산학협력단 | Method for controlling piano robot and apparatus for thereof |
| CN104149101A (en) * | 2014-04-03 | 2014-11-19 | 长春工业大学 | Multi-joint arm of humanoid robot capable of playing piano |
| CN109202935A (en) * | 2018-10-30 | 2019-01-15 | 希格斯动力科技（珠海）有限公司 | Play the hand method for controlling stepping motor and device of robot |
| CN114347070A (en) * | 2022-03-18 | 2022-04-15 | 之江实验室 | Method, system and device for controlling piano playing action based on humanoid arm claw robot |
| CN116394277A (en) * | 2023-06-08 | 2023-07-07 | 之江实验室 | Robot is played to imitative people piano |
| CN116728419A (en) * | 2023-08-09 | 2023-09-12 | 之江实验室 | Continuous playing action planning method, system, equipment and medium for playing robot |
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-
1994
- 1994-06-16 JP JP6157870A patent/JP2720305B2/en not_active Expired - Lifetime
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101825896A (en) * | 2010-05-24 | 2010-09-08 | 上海电气集团股份有限公司 | Robot playing the dulcimer and control method |
| JP2012137727A (en) * | 2010-12-24 | 2012-07-19 | National Taiwan Univ Of Science & Technology | Robot system and chord performance method using robot system |
| TWI405650B (en) * | 2010-12-24 | 2013-08-21 | Univ Nat Taiwan Science Tech | Robot system and method for playing a chord by using the same |
| KR101307595B1 (en) * | 2011-12-28 | 2013-09-12 | 한국기술교육대학교 산학협력단 | Method for controlling piano robot and apparatus for thereof |
| CN104149101A (en) * | 2014-04-03 | 2014-11-19 | 长春工业大学 | Multi-joint arm of humanoid robot capable of playing piano |
| CN109202935A (en) * | 2018-10-30 | 2019-01-15 | 希格斯动力科技（珠海）有限公司 | Play the hand method for controlling stepping motor and device of robot |
| CN114347070A (en) * | 2022-03-18 | 2022-04-15 | 之江实验室 | Method, system and device for controlling piano playing action based on humanoid arm claw robot |
| CN114347070B (en) * | 2022-03-18 | 2022-07-12 | 之江实验室 | Method, system and device for controlling piano playing action based on humanoid arm claw robot |
| CN116394277A (en) * | 2023-06-08 | 2023-07-07 | 之江实验室 | Robot is played to imitative people piano |
| CN116394277B (en) * | 2023-06-08 | 2023-08-25 | 之江实验室 | Robot is played to imitative people piano |
| CN116728419A (en) * | 2023-08-09 | 2023-09-12 | 之江实验室 | Continuous playing action planning method, system, equipment and medium for playing robot |
| CN116728419B (en) * | 2023-08-09 | 2023-12-22 | 之江实验室 | Continuous playing action planning method, system, equipment and medium for playing robot |
| CN117207204A (en) * | 2023-11-09 | 2023-12-12 | 之江实验室 | Control method and control device of playing robot |
| CN117207204B (en) * | 2023-11-09 | 2024-01-30 | 之江实验室 | Control method and control device of playing robot |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2720305B2 (en) | 1998-03-04 |
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