多功能打擊機器人之設計與實現

Design and Implementation of Multi-Function Percussion Instrument Robot

吳慶祥(Ching-Hsiang Wu)

指導教授 ： 王文俊

國立臺北科技大學/電資學院/電機工程系研究所/碩士(2009年)

摘要

本作品所要呈現的是一台具有打擊樂器能力的機器人，使用者可自行輸入歌譜內容，或搭配樂譜辨識系統來辨識歌譜，機器人能夠配合歌譜，敲打出高、低音，單、雙部樂曲，涵蓋15音階的範圍。打擊機器人的上半身是由8個AX-12馬達組合而成的，有頭、雙手與腰部，並透過Zigbee-100無線網路來進行馬達角度的控制，最後在搭配自行設計關節連接機構來加強機構穩定性。此打擊機器人不但會依照樂譜上音符的高低，轉動著上半身及控制機器手敲打正確的音符，也會依照各音符之拍數，來決定敲擊速度的快慢。不僅如此，此機器人結合影像處理，會搜尋木頭上的鐵釘，並精凖定位敲擊鐵釘，而且能隨時判斷鐵釘是否已深入木頭內。本機器人結合影像處理技術及定位控制，讓機器人可以打擊樂器與敲擊鐵釘，是一個兼具實用與娛樂效果之機器人。

關鍵字

機器人 ； 打擊樂器

並列摘要

This study designs and fabricates an intelligent robot which can play musical instruments. The music scores to be played are from the given inputs of the user or from the recognition system. This robot knock the music bricks according to the given music score, and the music to be played can include 15 musical scales and single or double department melodies. The robot’s structure is made by 8 AX-12 motors. It is like a human with two hands, a head and a waist. The rotation degree of each motor is controlled by Zigbee-100 wired serial communication protocol. The robot will rotate its body and control its both hands to knock correct music and rhythm according to the musical scores. On the other hand, the robot also can search and locate the nail on the wood and then hit the nail until the whole nail is into the wood.

並列關鍵字

Robot ； Play musical instruments

參考文獻

[16] 吳俊霖，「使用雙向濾波器之高反差影像自動增強法」，科學與工程技術期刊，第三卷，第三期，2007，第81-87頁。

[1] S. Degallier, C.P. Santos, L. Righetti, and A. Ijspeert, “Movement generation using dynamical systems : a humanoid robot performing a drumming task,” IEEE-RAS International Conference on Humanoid Robots, 2006, pp. 512 – 517.

[3] J. Solis, K. Suefuji, K. Taniguchi, and A. Takanishi, “Imitating the human flute playing by the WF-4RII: Mechanical, perceptual and performance control systems,” The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics,2006, pp. 1024 – 1029.

[4] T. Matsumoto, A. Konno, L. Gou and M. Uchiyama, “A Humanoid Robot that Breaks Wooden Boards Applying Impulsive Force,” IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006, pp. 5919 – 5924.

[6] J. Kiener and O. v. Stryk, “Cooperation of Heterogeneous, Autonomous Robots: A Case Study of Humanoid and Wheeled Robots, ” IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007, pp. 959 – 964.