抄録
The purpose of this study is to develop an anthropomorphic violin-playing robot that can produce expressive sounds, which improve communication between human and robots. Also, realization of violin-playing robot will enhance the robot's ability for achieving more sophisticated tasks. We have been developing a violin-playing robot with right and left arms. The left hand has four fingers for push the strings. However, the accuracy of each joint angle was very low because of the backlashes of joints in our robot. Thus, we redesigned and built a new forearm and wrist joints. We installed a harmonic drive to each joint to reduce the backlash. We measured the backlash in the new forearm and confirmed that the backlash of the new one was greatly smaller than that of the previous one. As a result, we succeeded in playing a small musical piece with four bars.
