バイオリン演奏ロボットの音程制御に関する基礎的研究

抄録

A sound pitch online feedback algorithm is proposed to adjust a correct sound of a violin playing robot. A relation between a finger position pressing on a bowstring and a sound peak frequency detected by FFT processing can be expressed by a quadratic equation. The amount of movement of the linear actuator which moves the finger is calculated based on the quadratic equation from the difference between the target pitch and the present pitch, and the linear actuator moves. By repeating these operation, the correct pitch is adjusted. A sound pitch adjustment experiment is examined using the proposed online feedback algorithm, and we confirm that the convergence of the online feedback operation is about 3 times.