机械电子学驱动的机器人打击乐演奏家的音乐表现力
Mechatronics-Driven Musical Expressivity for Robotic Percussionists
摘要：
音乐表现力是人类和机器人音乐家音乐表演的一个重要方面。我们提出了一种新的机电一体化驱动的实现无刷直流（BLDC）电机的机器人马林巴琴播放器，名为西蒙，旨在提高速度，动态范围（响度），并最终感知到的音乐表现力相比，国家的最先进的机器人provisionist致动器。在动态范围的客观测试中，我们发现我们的实现提供了更广泛和更一致的动态范围响应相比，基于螺线管的机器人proxionists。我们的实现也优于螺线管和人类马林巴球员在打击速度。在测量音乐表现力的主观听力测试中，我们的系统的表现明显优于基于螺线管的系统，并且在统计上与人类表演者没有区别。
英文摘要：
Musical expressivity is an important aspect of musical performance for humans as well as robotic musicians. We present a novel mechatronics-driven implementation of Brushless Direct Current (BLDC) motors in a robotic marimba player, named Shimon, designed to improve speed, dynamic range (loudness), and ultimately perceived musical expressivity in comparison to state-of-the-art robotic percussionist actuators. In an objective test of dynamic range, we find that our implementation provides wider and more consistent dynamic range response in comparison with solenoid-based robotic percussionists. Our implementation also outperforms both solenoid and human marimba players in striking speed. In a subjective listening test measuring musical expressivity, our system performs significantly better than a solenoid-based system and is statistically indistinguishable from human performers.
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