发表机构
National Institute of Informatics (NII); The Graduate University for Advanced Studies (SOKENDAI)（信息学研究所; 高级研究大学（综合研究大学院大学））
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出软体机器人鼓手，通过拉拨和微脉冲两种优化技巧，利用贝叶斯优化调参，实现高效多重弹跳鼓滚奏，软体TP弹跳12.25次/挥击，软体MP声学效率提升6.8倍。
AI 中文摘要
本文介绍了一种软体机器人鼓手，用于准确且高效地演奏鼓滚奏。高频鼓滚奏需要“多重弹跳技巧”，即鼓槌在一次挥击内多次弹跳。在机器人复现该技巧时，身体弹性是关键，而挥击过程中的精细运动对于最大化该弹性的潜力也至关重要。因此，我们设计了两种技巧：i) 拉拨（TP）技巧，通过在撞击后添加拉动动作来增加弹跳次数；以及 ii) 微脉冲（MP）技巧，通过在挥击过程中注入微小振荡来保持击鼓音量。由于软体具身的非线性复杂性，两种技巧均通过贝叶斯优化以数据驱动方式高效调参，以实现各自量化的目标。我们使用软体和刚性末端执行器评估了优化后的行为。结果显示，软体TP实现了最高的弹跳次数（每次挥击12.25次）且间隔均匀。软体MP抑制了音量衰减，相比刚性MP产生了6.8倍更高的声学效率。这些结果表明，所提出的技巧结合弹性与优化，可使机器人演奏出优秀的鼓滚奏。
英文摘要
This paper presents a soft robotic drummer for accurate and efficient drum rolls. High-frequency drum rolls require the "multi-bounce technique," where a drumstick bounces multiple times with a single stroke. In robotic reproduction of this technique, the body's elasticity is key, while the fine motion during the stroke is also crucial for maximizing the potential of that elasticity. Therefore, we design two tricks: i) Tap-Pull (TP) trick to increase the number of rebounds by adding a pulling motion after impact; and ii) Micro-Pulse (MP) trick to keep the drumming volume by injecting small oscillations during the stroke. Due to the nonlinear complexity of soft embodiment, both tricks are efficiently tuned using Bayesian optimization in a data-driven manner for accomplishing the respective objectives quantified. We evaluated the optimized behaviors with soft and rigid end-effectors. As a result, the soft TP achieved the highest bounce count (12.25 per stroke) with uniform intervals. The soft MP suppressed the volume decay, yielding 6.8-times higher acoustic efficiency compared to the rigid MP. These results indicate that the proposed tricks with the combination of elasticity and optimization can make robots play excellent drum rolls.
Comments7 pages, 6 figures. Published in the 2026 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2026)
DOI：10.1109/AIM65483.2026.11658185
