Abstract
The automatic saxophone playing robot is the robot that can play music with a normal saxophone using data of a MIDI file. If we try to make performance of some music with the robot and human players, as long as using the existing system, the human players have to synchronize the performance with the robot. Therefore, a cooperative performance system, that the robot synchronizes the performance of human players, should be invented. In the case, it is necessary that the robot changes tempo of its own performance to synchronize music to human players and hence MIDI file is used to control the robot because it is easy to edit and adjust. The control program of the robot only can play the saxophone corresponding to constant tempo of MIDI files. Therefore, it was needed to develop a control system by improving the control program of the robot to be able to synchronize to surrounding music and to be able to performance expressively as human players.
