The goal of this study is to develop an anthropomorphic violin-playing robot and improve robot's communication ability through expression of Knasei. Also, the violin-playing is a very difficult task for both human and robots, and requires dexterous arms and hands. Thus, building a violin-playing robot will lead us to more skillful robot. We developed new left and right arms, and a left hand for fingering. Both arms are anthropomorphic and have seven joints driven by D.C. motors. Their length is almost same as human arm. The left hand for fingering has three fingers with two DOF, and can push the four strings of the violin. It is made of polyacetal because of its lightweight. We mounted them to the body and the robot performs G string bowing.
