Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 27, 2020 - May 30, 2020
Bowing a string requires not only the control of the position and velocity of the bow but also the control of impedance. Once the string starts vibrating, the vibration propagates through the bow to the arm holding the bow. The impedance must be controlled in order to suppress this vibration.Therefore, this paper proposes the use of force and impedance control for reproducing the task of violin performance.The first experiment aims to identify the range of force and velocity necessary for the string to follow a periodic motion.Within the range, the second experiment examines the relationship between impedance gains and the timbre of the violin. In the last experiment, the performance of the robot is compared with the performance of an experienced violin player. Through the experiments, this paper verifies the effectiveness of force and impedance control in reproducing violin performance.
