抄録
The final goal of this study is to develop an anthropomorphic violin-playing robot that expressively performs musical pieces. For expressive performances, we have to take the musical mark in musical-scores into account. Particularly, the symbols for the note-strength are very important. Therefore, we designed an algorithm to determine the bowing motion according to the note-strength symbols, in which the robot alter the bow force to change the volume of the note. In this report, we describe the robot motion planning system, which takes the interrelation of bowing by right-arm and positioning by left-arm and fingering by left-hand into consideration. Then, the volume adjusting methods are introduced. As a result of the experiments, we confirmed that the robot was able to alter the volume in three steps.
