互動型彈琴機器手

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姓名

王家樺(Chia-hua Wang) 查詢紙本館藏

畢業系所

電機工程學系

論文名稱

互動型彈琴機器手
(An Interactive Piano Robot)

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摘要(中)

本論文自行設計硬體機構且利用低成本元件做出一台具有彈琴演奏功能之音樂機器人，並經由使用者與機器人的音樂互動，達到娛樂與音樂之效果。彈琴機器手的手指與手掌機構是利用壓克力板來製作來達到仿人手外觀之效果，由微型伺服機來驅動機器手指上下按壓的動作，橫向位移的動作則是利用具有回授的伺服馬達來帶動線性螺桿來達成精準的定位控制，完成可雙手彈奏之彈琴機器手。
基於讓彈琴機器手更吸引人，且有別於其他音樂機器人，本論文提出一種特別的想法：利用從各大網站下載之樂譜檔 (MIDI檔) 來當作音樂的輸入，並把樂譜檔轉換成機器手能夠讀取的彈奏資訊，即可讓機器手演奏一首歌曲。另外，我們也可使用外接式觸碰螢幕的人機介面，透過人性化的提示功能，教導使用者利用虛擬樂器與機器手共同演奏歌曲，即使沒有音樂基礎的使用者也可以輕鬆愉快地與機器手共奏。

摘要(英)

This study tries to design and fabricate a low cost music robot which can play music for entertainment and interaction with human. The robot has two hands where left hand has six fingers and right hand has five fingers and each finger is driven by a servo motor. The mechanism structure of the robotic hand, fingers and palm is manufactured by the materials of acrylic boards. The moving of each robotic hand is implemented by a linear screw which is driven by a servo motor to achieve precise position control. Thus, the robot with two hands can play piano under the proposed control design.
This study proposes another special idea to make the music robot more attractive and be different from other music robots. We first download the music files (MIDI files) on the internet to be the music input and then transfer the MIDI file to the data which is recognized by the robot such that the robotic hands can play the music directly. Furthermore, based on designed friendly interface, a set of virtual musical instruments is displayed on the touch panel such that the users can play music on the touch panel to interact with the robotic hands. Therefore, the users who even have no music background can successfully play music with robot easily and happily.

關鍵字(中)

★ 音樂機器人
★ 音樂互動
★ 人機介面
★ MIDI檔

關鍵字(英)

★ MIDI file
★ interface
★ music robot
★ music interaction

論文目次

摘要 i
Abstract ii
致謝 iii
目錄 iv
圖目錄 vii
表目錄 xi
第一章緒論 1
1.1 研究背景與動機 1
1.2 文獻回顧 2
1.3 論文目標 4
1.4 本文架構 4
第二章系統環境與軟硬體設計 5
2.1 核心處理器 7
2.2 人機互動端 7
2.2.1 觸控式螢幕 (硬體) 7
2.2.2 人機介面 (軟體). 8
2.3 彈奏模組 9
2.3.1 電子琴與喇叭 9
2.3.2 微型伺服機 (機器手指之上下敲擊設計) 9
2.3.3 線性螺桿模組 (機器手橫向位移設計) 12
2.3.4 彈琴機器手製作方式與彈奏動作分析 15
第三章樂譜轉換 20
3.1 樂譜轉換軟體 20
3.2 MIDI檔介紹 21
3.2.1 MIDI發聲的組成元件 22
3.2.2 MIDI檔格式 22
3.2.3 MIDI事件 23
3.2.4 MIDI音符組成 23
3.3 MIDI資訊到彈奏資訊 24
3.3.1 MIDI資料解析 24
3.3.2 MIDI資料轉換流程 26
3.3.3 MIDI之節拍與休止符判斷 27
第四章彈奏策略 29
4.1 最短距離彈奏 31
4.2 最遠琴鍵判斷且移動 32
4.2.1 加入判斷前 32
4.2.2 加入判斷後 33
4.3 機器手移動時間之節省 34
4.3.1 提前驅動螺桿與手指 34
4.3.2 節省彈奏下壓時間 35
4.4 移動速度調整 36
4.4.1 機器手指離開琴鍵前 37
4.4.2 機器手指離開琴鍵後 37
第五章人機介面之模式介紹 39
5.1 彈奏模式 39
5.2 互動模式 41
5.2.1 鼓伴奏 42
5.2.2 鋼琴伴奏 42
第六章實驗成果 44
6.1 網路下載樂譜與軟體轉換 46
6.2 內建音樂資料庫的彈奏模式 48
6.3 互動模式彈奏 49
6.3.1 鋼琴伴奏 49
6.3.2 鼓伴奏 50
6.4 已完成歌曲與播放時間比較 52
第七章結論與未來展望 55
7.1 結論 55
7.2 未來展望 55
參考文獻 57

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指導教授

王文俊(Wen-june Wang)

審核日期

2012-7-20

推文