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  • 101.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Petersen, K
    Ninomiya, T
    Takeuchi, M
    Takanishi, A
    Development of Anthropomorphic Musical Performance Robots: From Understanding the Nature of Music Performance to Its Application in Entertainment Robotics2009Conference paper (Refereed)
  • 102.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Petersen, K
    Ninomiya, T
    Takeuchi, M
    Takanishi, A
    Mechanism Design and Air-Pressure Feedback Control Implementation of the Anthropomorphic Waseda Saxophonist Robot2009Conference paper (Refereed)
  • 103.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Petersen, K
    Ninomiya, T
    Yamamoto, T
    Takeuchi, M
    Takanishi, A
    Development of the Anthropomorphic Saxophonist Robot WAS-1: Mechanical Design of the Lip, Tonguing, Fingers and Air Pump Mechanisms2009Conference paper (Refereed)
  • 104.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Petersen, K
    Takanishi, A
    Development of a Aural Real-Time Rhythmical and Harmonic Tracking to Enable the Musical Interaction with the Waseda Flutist Robot2009Conference paper (Refereed)
  • 105.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Petersen, K
    Takanishi, A
    Development of the Waseda Flutist Robot Toward Enhancing the Interaction with Human Musical Partners2010In: / [ed] Schiehlen, W., Parenti-Castelli, V, Heidelberg, Germany: Springer , 2010Conference paper (Refereed)
  • 106.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Petersen, K
    Takanishi, A
    Implementation of a Musical Performance Interaction System for the Waseda Flutist Robot: Combining Visual and Acoustic Sensor Input based on Sequential Bayesian Filterings2010Conference paper (Refereed)
  • 107.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Petersen, K
    Takanishi, A
    Musical-Based Interaction System for the Waseda Flutist Robot: Implementation of the Visual Tracking Interaction Module2010In: Autonomous Robots, ISSN 0929-5593, E-ISSN 1573-7527, Vol. 28, no 4, p. 471-488Article in journal (Refereed)
  • 108.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Petersen, K
    Yamamoto, T
    Takeuchi, M
    Ishikawa, S
    Takanishi, A
    Hashimoto, K
    Design of New Mouth and Hand Mechanisms of the Anthropomorphic Saxophonist Robot and Implementation of an Air Pressure Feed-Forward Control with Dead-Time Compensation2010Conference paper (Refereed)
  • 109.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Petersen, K
    Yamamoto, T
    Takeuchi, M
    Ishikawa, S
    Takanishi, A
    Hashimoto, K
    Development of the Anthropomorphic Waseda Saxophonist Robot2010In: / [ed] Schiehlen, W., Parenti-Castelli, V, Wien, New York: Springer , 2010, p. 209-216Conference paper (Refereed)
  • 110.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Petersen, K
    Yamamoto, T
    Takeuchi, M
    Ishikawa, S
    Takanishi, A
    Hashimoto, K
    Development of the Waseda Saxophonist Robot and Implementation of an Auditory Feedback Control2010Conference paper (Refereed)
  • 111.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Petersen, K
    Yamamoto, T
    Takeuchi, M
    Ishikawa, S
    Takanishi, A
    Hashimoto, K
    Imitating the Saxophone Playing by the Anthropomorphic Saxophonist Robot2010Conference paper (Refereed)
  • 112.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Petersen, K
    Yamamoto, T
    Takeuchi, M
    Ishikawa, S
    Takanishi, A
    Hashimoto, K
    Implementation of an Overblowing Correction Controller and the Proposal of a Quantitative Assessment of the Sound's Pitch for the Anthropomorphic Saxophonist Robot WAS-22010Conference paper (Refereed)
  • 113.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Health, Science and Technology (starting 2013), Department of Engineering and Physics.
    Petersen, Klaus
    Waseda University.
    Takanishi, Atsuo
    Waseda University.
    Biologically-inspired mechanism design for anthropomorphic musical performance robots2014In: 14th Mechatronics Forum International Conference Mechatronics / [ed] DeVin, L.J., Mechatronics 2014 , 2014, p. 549-554Conference paper (Refereed)
  • 114.
    Solis, Jorge
    et al.
    Japan.
    Petersen, Klaus
    Japan.
    Takanishi, Atsuo
    Japan.
    Interactive Musical System for Multimodal Musician-Humanoid Interaction2011Book (Refereed)
    Abstract [en]

    The research on Humanoid Robots designed for playing musical instruments has a long tradition in the research field of robotics. During the past decades, several researches are developing anthropomorphic and automated machines able to create live musical performances for both understanding the human itself and for creating novel ways of musical expression. In particular, Humanoid Robots are being designed to roughly simulate the dexterity of human players and to display higher-level of perceptual capabilities to enhance the interaction with musical partners. In this chapter, the concept and implementation of an interactive musical system for multimodal musician-humanoid interaction is detailed.

  • 115.
    Solis, Jorge
    et al.
    Japan.
    Petersen, Klaus
    Japan.
    Takeuchi, Masaaki
    Japan.
    Kusano, Takafumi
    Japan.
    Ishikawa, Shimpei
    Japan.
    Takanishi, Atsuo
    Japan.
    Hashimoto, Kunimatsu
    Japan.
    Improvement of the Oral Cavity and Finger Mechanisms and Implementation of a Pressure-Pitch Control System for the Waseda Saxophonist Robot2011In: 2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE conference proceedings, 2011, p. 3976-3981Conference paper (Refereed)
    Abstract [en]

    Our research is related to the development of an anthropomorphic saxophonist robot which reproduced the human organs involved during the saxophone playing. This research approach aims in understanding the human motor control from an engineering point of view and enabling the communication between humans and robots in musical terms. In a previous research, we have presented the Waseda Saxophonist Robot No. 2 (WAS-2) which improved the design of the lip and finger mechanisms. In addition, a feed-forward air pressure with dead-time compensation and an overblowing correction controller were implemented. However, the range of pressure was too limited to reproduce dynamic effects of the sound (i.e. decrescendo, etc.), a delay on the response of the finger mechanism was detected (due to the use of a wire-driven mechanism) and deviations on the pitch during the saxophone playing were observed. Therefore; in this paper, we present the Waseda Saxophonist Robot No. 2 Refined (WAS-2R). In particular the shape of the oral cavity has been re-designed to increase the sound pressure range and potentiometers were embedded on the fingers to reduce the dynamic delay response of the wire-driven mechanism. In addition, a Pressure-Pitch Controller has been implemented to reduce the deviation of the sound pitch by implementing a feedback error learning algorithm for a Multiple-Input Multiple-Output system. A set of experiments were proposed to verify the effectiveness of the re-designed mechanisms and the improved control strategy. From the experimental results, we could confirm the improvements to extend the sound pressure range to reproduce the decrescendo effect, to reduce the response delay from the finger mechanism as well as the deviations on the sound pitch.

  • 116.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Health, Science and Technology (starting 2013), Department of Engineering and Physics (from 2013).
    Sansanayuth, Thitipong
    Karlstad University, Faculty of Health, Science and Technology (starting 2013), Department of Engineering and Physics (from 2013).
    Shojaei, Efran
    Karlstad University, Faculty of Health, Science and Technology (starting 2013), Department of Engineering and Physics (from 2013).
    Velocity control improvement for the Human-Friendly Assist Robot Vehicle2016In: System Integration (SII), 2016 IEEE/SICE International Symposium on / [ed] Book Group Author(s): IEEE, IEEE, 2016, p. 331-336Conference paper (Refereed)
    Abstract [en]

    Up to now, the embodiment of bodily-kinaesthetic, perceptual and cognitive capabilities for assistive robots has been scarcely studied. This research aims to incorporate and develop the concept of robotic human science and to enable its application in a human-friendly robot for assistive purposes. In this paper, the authors describe the improvements of the velocity control of the two-wheeled inverted pendulum of the hWalk by adding a LQR as compensator for the wheel angular velocity to the existent PID controller. On the other hand, an algorithm based on computing the integral of the motor measured current was proposed in order to detect a ramp in order to cope with inclined surfaces. Experiments were carried out to verify the effectiveness of the proposed velocity control as well as verify the feasibility of the proposed ramp detection algorithm.

  • 117.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Solis, J
    Takanishi, A
    Development of the Waseda Flutist Robot: Particle Filter Implementation for Instrument Tracking2009Conference paper (Refereed)
  • 118.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Health, Science and Technology (starting 2013), Department of Engineering and Physics (from 2013). Karlstad Univ, Dept Engn & Phys, Karlstad, Sweden..
    Sorensen, Anders Stengaard
    Univ Southern Denmark, Dept Hlth Informat & Technol, Odense, Denmark..
    Rasmussen, Gitte
    Univ Southern Denmark, Dept Language & Commun, Odense, Denmark..
    Bodily Human Robot Interaction2019In: HRI '19: 2019 14TH ACM/IEEE INTERNATIONAL CONFERENCE ON HUMAN-ROBOT INTERACTION, IEEE , 2019, p. 683-684Conference paper (Refereed)
    Abstract [en]

    This workshop is dedicated to discuss and explore the specific interdisciplinary aspects of Bodily human robot interaction, and establish a common ground for this area as a recognized and continued research topic. Bodily interaction with robots and robotic devices is partially established in niche applications such as exoskeletons, assistive devices and advanced machines for physical training where bodily interaction is the application. Bodily interaction is expected to develop a broader role in human robot interaction, for instance in manufacturing and in social and entertainment robotics. The direct exchange of force and motion in bodily interaction create a range of engineering challenges, but also entwine engineering directly with topics that traditionally reside in the realm of health and humanistic science, from biomechanics to human's social responses to the prompting and responses of physical interaction.

  • 119. Solis, Jorge
    et al.
    Suefuji, K.
    Chida, K.
    Taniguchi, K.
    Takanishi, A.
    Imitating human flute playing by the WF-4RII: Mechanical, perceptual and performance control systems2006In: Biomedical Robotics and Biomechatronics, 2006. BioRob 2006. The First IEEE/RAS-EMBS International Conference on, 2006, p. 1024-1029Conference paper (Refereed)
  • 120.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Suefuji, K.
    Chida, K.
    Taniguchi, K.
    Takanishi, A.
    The interaction of the Waseda Flutist Robot with humans and its applications2006Conference paper (Refereed)
  • 121. Solis, Jorge
    et al.
    Suefuji, K.
    Chida, K.
    Taniguchi, K.
    Takanishi, A.
    The mechanical improvements of the anthropomorphic flutist robot WF-4RII to increase the sound clarity and to enhance the interactivity with humans2008In: ROMANSY 17: Robot Design, Dynamics and Control / [ed] Takanishi, A.; Nakamura, Y.; Heimann, B., Tokyo, Japan: Kamiya Publishing , 2008Chapter in book (Refereed)
  • 122.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Suefuji, K.
    Kouchi, K.
    Takanishi, A.
    The Waseda Flutist Robot WF-4RII as a Musical Tutor System: The Development of a General Transfer Skill System from Robot to flutists beginners2006Conference paper (Refereed)
  • 123. Solis, Jorge
    et al.
    Suefuji, K.
    Takanishi, A.
    The Waseda Flutist Robot: from a musical partner to a musical tutor2006In: Journal of the Society of Biomechanisms, Vol. 30, no 1, p. 23-37Article in journal (Refereed)
  • 124.
    Solis, Jorge
    et al.
    Department of Mechanical Engineering, Waseda University, Tokyo, Japan.
    Suefuji, K.
    Taniguchi, K.
    Ninomiya, T.
    Maeda, M.
    Takanishi, A.
    Implementation of Expressive Performance Rules on the WF-4RIII by Modeling a Professional Flutist performance Using NN2007In: IEEE International Conference on Robotics and Automation, 2007, IEEE conference proceedings, 2007, p. 2552-2557Conference paper (Refereed)
  • 125.
    Solis, Jorge
    et al.
    Department of Mechanical Engineering, Waseda University, Tokyo, Japan.
    Suefuji, K.
    Taniguchi, K.
    Takanishi, A.
    The Mechanical Improvements of the Waseda Flutist Robot and the Implementation of an Auditory Feedback Control System2006In: ROMANSY 16: Robot Design, Dynamics and Control / [ed] Zielinska, T.; Zielinski, C., Springer, 2006, p. 247-254Chapter in book (Refereed)
  • 126. Solis, Jorge
    et al.
    Suefuji, K.
    Taniguchi, K.
    Takanishi, A.
    Toward an Autonomous Musical Teaching System: From the Waseda Flutist Robot to Flutist Beginners2006Conference paper (Refereed)
  • 127.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Health, Science and Technology (starting 2013), Department of Engineering and Physics (from 2013).
    Sugita, Y.
    Waseda University, Japan.
    Petersen, P.
    Waseda University, Japan.
    Takanishi, Atsuo
    Waseda University, Japan.
    Development of an anthropomorphic musical performance robot capable of playing the flute and saxophone: Embedding pressure sensors into the artificial lips as well as the re-designing of the artificial lips and lung mechanisms2016In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 86, p. 174-183Article in journal (Refereed)
    Abstract [en]

    The authors are developing anthropomorphic musical performance robots as an approach to understand the human motor control and to enhance the human-robot interaction from an engineering point of view. For this purpose; since 1990, we have developed an anthropomorphic flutist robot. As one of our long-term approaches, we aim to develop an anthropomorphic musical performance robot capable of playing different kinds of woodwind instruments, e.g. flute and saxophone. In this paper, the improvements of the mechanical design and sensing system of the Waseda Flutist Robot No. 4 Refined V (WF-4RV) are detailed. As for the sensing system, an array of sensors has been designed to detect the lip's pressure distribution. On the other hand, the lips and lung have been re-designed to enable the flutist robot to play the saxophone.

  • 128.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Takanishi, A.
    An Overview of the Research Approaches on Musical Performance Robots2007Conference paper (Refereed)
  • 129. Solis, Jorge
    et al.
    Takanishi, A.
    Can an anthropomorphic flutist robot display musical skills?2008Conference paper (Refereed)
  • 130.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Takanishi, A
    Development of a Wheeled Inverted Pendulum Robot and a Pilot Experiment with Master Students2010Conference paper (Refereed)
  • 131.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Takanishi, A
    Development of an Inverted Pendulum Type Mobile Robot for Educational Purposes2009Conference paper (Refereed)
  • 132.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Takanishi, A
    Development of the Waseda Wheeled Robot No. 2 Refined II and Pilot Experiments with Undergraduate Students2011Conference paper (Refereed)
  • 133.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Takanishi, A.
    Enabling Autonomous Systems to Perceptually Detect Human Performance Improvements and their Applications2008In: CASE 2008. IEEE International Conference on Automation Science and Engineering, 2008, IEEE conference proceedings, 2008, p. 259-264Conference paper (Refereed)
  • 134.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Health, Science and Technology (starting 2013), Department of Engineering and Physics.
    Takanishi, A
    Human-Friendly Robots for Entertainment and Education2012In: Service Robots and Robotics: Design and Application / [ed] Marco Ceccarelli, Heidelberg, Germany: IGI Global , 2012, p. 130-153Chapter in book (Refereed)
  • 135. Solis, Jorge
    et al.
    Takanishi, A.
    Introducing a novel musical teaching automated tool to transfer technical skills from an anthropomorphic flutist robot to flutists beginners2008Conference paper (Refereed)
  • 136.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Takanishi, A
    Introducing Robot Technology to Undergraduate Students at Waseda University2009Conference paper (Refereed)
  • 137.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Takanishi, A
    Introduction of Mechatronics for Undergraduate Students Based on Robotic Platforms for Education Purposes2009Conference paper (Refereed)
  • 138.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Takanishi, A
    Mechanism design for a Wind Playing-Instrument Humanoid Robot2010Conference paper (Refereed)
  • 139.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Takanishi, A
    New Challenges for the implementation of Robo Ethics Education in Japan2009Conference paper (Refereed)
  • 140.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Takanishi, A
    Practical Issues on Robotic Education and Challenges for Robo Ethics Education2009Conference paper (Refereed)
  • 141.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Takanishi, A
    Project-Based Learning Implementation and Development of Educational Robots at Waseda University2010Conference paper (Refereed)
  • 142.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Takanishi, A
    Recent trends in humanoid robotics research: scientific background, applications and implications2010In: Accountability in Research, ISSN 0898-9621, E-ISSN 1545-5815, Vol. 17, no 6, p. 278-298Article in journal (Refereed)
  • 143.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Takanishi, A
    Toward Enhancing the Understanding of Human Motor Learning2009Conference paper (Refereed)
  • 144.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Takanishi, A
    Toward Understanding the Nature of Musical Performance and Interaction with Wind Instrument-Playing Humanoids2010Conference paper (Refereed)
  • 145.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Takanishi, A
    Understanding the feasibility and applicability of the musician-humanoid interaction research: A study of the impression of the musical interaction2011In: Robotics in Germany and Japan: Cultural and Technical Perspectives / [ed] Funk, M. and Bernhard, I., Frankfurt am Main, Germany: Peter Lang , 2011Chapter in book (Refereed)
  • 146.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Takanishi, A
    Understanding the mechanisms of the human motor control by imitating saxophone playing with the Waseda Saxophonist Robot WAS-12009Conference paper (Refereed)
  • 147.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Takanishi, A
    Hashimoto, K
    Bio-Inspired Design and Control of the Waseda Saxophonist Robot2011Conference paper (Refereed)
  • 148.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Technology and Science, Department of Physics and Electrical Engineering.
    Takanishi, A
    Hashimoto, K
    Development of an Anthropomorphic Saxophone-Playing Robot2010In: Brain, Body and Machine Proceedings of an International Symposium on the Occasion of the 25th Anniversary of Mcgill University Centre for Intelligent Machines / [ed] Angeles, J. Boulet, B., Clark, J., Kovecses, J. Siddiqi K., Heidelberg, Berlin Germany: Springer-Verlag , 2010, p. 175-186Chapter in book (Refereed)
  • 149.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Health, Science and Technology (starting 2013), Department of Engineering and Physics.
    Takanishi, Atsuo
    Waseda University.
    Anthropomorphic Musical Robots Designed to Produce Physically Embodied Expressive Music Performances2013In: Guide to Computing for Expressive Music Performance / [ed] Kirke A., Miranda, R.E., London: Springer London, 2013, p. 235-255Chapter in book (Refereed)
  • 150.
    Solis, Jorge
    et al.
    Karlstad University, Faculty of Health, Science and Technology (starting 2013), Department of Engineering and Physics.
    Takanishi, Atsuo
    Waseda University.
    Human-Friendly Robots for Entertainment Purposes and Their Possible Implications2015In: Evolutionary Robotics, Organic Computing and Adaptive Ambience: Epistemological and ethical implications of technomorphic descriptions of technologies / [ed] Michael Decker, Mathias Gutmann, Julia Knifka, Berlin: LIT Verlag , 2015Chapter in book (Other (popular science, discussion, etc.))
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