互動型彈琴機器手

以作者查詢圖書館館藏

、以作者查詢臺灣博碩士

、以作者查詢全國書目

、勘誤回報

、線上人數：20

、訪客IP：18.118.184.102

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)

相關論文

★ 直接甲醇燃料電池混合供電系統之控制研究	★ 利用折射率檢測法在水耕植物之水質檢測研究
★ DSP主控之模型車自動導控系統	★ 旋轉式倒單擺動作控制之再設計
★ 高速公路上下匝道燈號之模糊控制決策	★ 模糊集合之模糊度探討
★ 雙質量彈簧連結系統運動控制性能之再改良	★ 桌上曲棍球之影像視覺系統
★ 桌上曲棍球之機器人攻防控制	★ 模型直昇機姿態控制
★ 模糊控制系統的穩定性分析及設計	★ 門禁監控即時辨識系統
★ 桌上曲棍球：人與機械手對打	★ 麻將牌辨識系統
★ 相關誤差神經網路之應用於輻射量測植被和土壤含水量	★ 三節式機器人之站立控制

檔案

[Endnote RIS 格式]

[Bibtex 格式]

[相關文章]

[文章引用]

[完整記錄]

[館藏目錄]

[檢視]

[下載]

本電子論文使用權限為同意立即開放。
已達開放權限電子全文僅授權使用者為學術研究之目的，進行個人非營利性質之檢索、閱讀、列印。
請遵守中華民國著作權法之相關規定，切勿任意重製、散佈、改作、轉貼、播送，以免觸法。

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

參考文獻

[1] J.C. Lin, H.H. Huang, Y.F. Li, J.C. Tai, and L.W. Liu, “Electronic piano playing robot,” in Proceedings of the IEEE International Symposium on Computer Communication Control and Automation, Taiwan, May 2010, pp. 353-356.
[2] A. M. Batula and Y. E. Kim, “Development of a mini-humanoid pianist,” in Proceedings of the IEEE International Conference on Humanoid Robots, USA, Dec. 2010, pp. 192-197.
[3] R. Nikolaidis and G. Weinberg, “Playing with the masters: a model for improvisatory musical interaction between robots and humans,” in Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication, Italy, Sept. 2010, pp. 712-717.
[4] G. Hoffman and G. Weinberg, “Synchronization in human-robot musicianship,” in Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication, Italy, Sept. 2010, pp.718-724.
[5] Y. Nonomura, M. Fujiyoshi, and H. Sugihara, “Inertial force sensing system for partner robots,” in Proceedings of the IEEE International Conference on Sensors, Korea, Oct. 2006, pp. 1325-1328.
[6] Meet Teotronico相關網站， http://www.catersnews.com/viewstory.php?id=1124，2011年10月。
[7] S. Sugano and I. Kato, “WABOT-2: Autonomous robot with dexterous finger-arm coordination control in keyboard performance,” in Proceedings of the IEEE International Conference on Robotics and Automation, Tokyo, March 1987, pp. 90-97.
[8] P.D. Lehrman and E. Singer, “Doing good by the “bad boy”: performing George Antheil’s Ballet mecanique with robots,” in Proceedings of the IEEE International Conference on Technologies for Practical Robot Applications, USA, Nov. 2008, pp. 13-18.
[9] Keepon 機器人相關網站，http://beatbots.net/，2011年10月。
[10] Sony Rolly相關網站， http://www.sony.net/Fun/design/activity/product/rolly_01.html，2011年10月。
[11] 張智鈞 (王文俊教授指導)，“五線譜之即時辨識與演奏”，國立台北科技大學電機工程系碩士班碩士學位論文，2009年6月。
[12] 陳易鋌 (王文俊教授指導)，“具模仿學習與旋律辨識之打擊樂器機器人”，國立中央大學電機工程學系碩士論文，2009年6月。
[13] Z. Dan, L. Jianhe , L. Beizhi, D. Lau, and C. Cameron, “Design and analysis of a piano playing robot,” in Proceedings of the IEEE International Conference on Information and Automation, China, June 2009, pp. 757-761.
[14] T. Wang, Y. Wang, and J. Wang, “On a manipulator for xylophone-playing,” in Proceedings of the Chinese Control Conference, China, July 2008, pp.243-247.
[15] A. B. Viana, J. H. F. Cavalcanti, and P. J. Alsina, “Intelligent system for piano fingering learning aid,” in Proceedings of the Fifth International Conference on Control Automation Robotics Vision, Singapore, Dec. 1998., pp. 35-41.
[16] B. Almasri and F.B. Ouezdou, “New design of one motor driven under actuated humanoid hand,” in Proceedings of the IEEE International Conference on Intelligent Robots and Systems, USA, Oct. 2007, pp. 1491-1496.
[17] S. Kajikawa, “Development of a robot finger module with multi-directional passive compliance,” in Proceedings of the IEEE International Conference on Intelligent Robots and Systems, China, Oct. 2006, pp. 4024-4029.
[18] 香港流行鋼琴協會相關網站，http://www.poppiano.org/，2012年1月。
[19] B. Hamadicharef, X. Mufeng, and S. Aditya, “Brain-computer interface (BCI) based musical composition,” in Proceedings of the IEEE International Conference on Cyberworlds, Singapore, Oct. 2010, pp. 282-286.
[20] G. Go, T. Song, S. Jung, H. Jeong, M. Kim, M. Kim, H. Kim, M. Kang, K. Kwon, and J. Jeon, “Generating music using a picture and a transform system,” in Proceedings of the IEEE International Conference on Control Automation and Systems, Korea, Oct. 2010, pp. 2285 - 2289.
[21] S. Fels, K. Nishimoto, and K. Mase, “MusiKalscope:A graphical musical instrument,” IEEE Multimedia, vol. 5, pp. 26-35, July 1998.
[22] S. Schertenleib, M. Gutierrez, F. Vexo, and D. Thalmann, “Conducting a virtual orchestra,” IEEE Multimedia, vol. 11, pp. 40-49, July 2004.
[23] Z. Zhiying, A.D. Cheok, L. Wei, C. Xiangdong, F. Farzam, Y. Xubo, and M. Haller, “Multisensory musical entertainment system,” IEEE Multimedia, vol. 11, pp. 88-101, July 2004.
[24] N. Cong and S. Zhou, “The MusicPatterns,” in Proceedings of the IEEE International Conference on Educational and Information Technology, Singapore, Sept. 2010, pp. V3-9-V3-13.
[25] T.T. Doan, “Understanding MIDI-the key to creating and conducting the music to your own MTV video,” IEEE Potentials, vol. 13, pp. 10-11, Feb. 1994.
[26] 鍾召鴻 (沈士育博士指導)，“電腦合成音樂之研究”，國立成功大學電機工程研究所碩士論文，2002年6月。
[27] A. Adli and Z. Nakao, “Three steganography algorithms for MIDI files,” in Proceedings of the IEEE International Conference on Machine Learning and Cybernetics, Japan, Aug. 2005, pp. 2401-2404.
[28] Shih Hsuan-Huei, S.S. Narayanan, and C.-C.J. Kuo, “Automatic main melody extraction from midi files with a modified Lempel-Ziv algorithm,” in Proceedings of the IEEE International Symposium on Intelligent Multimedia, Video and Speech Processing, H. K., May. 2001, pp.9-12.
[29] G. Ozcan, C. Isikhan, and A. Alpkocak, “Melody extraction on MIDI music files,” in Proceedings of the IEEE International Symposium on Multimedia, USA, Apr. 2005, pp.414-422.
[30] M. Tang, C. L. Yip, and B. Kao, “Selection of melody lines for music databases,” in Proceedings of the Annual International Conference on Computer Software and Applications Conference, Hong Kong, Oct. 2000, pp. 243-248.
[31] M. Rentzsch, F. Seifert, C. Hornfischer, and A. Schreiber, “Melodic segmentation on different musical genres,” in Proceedings of the International Conference on Automated solutions for Cross Media Content and Multi-channel Distribution, Germany, Nov. 2008, pp. 3-9.
[32] 敏石系統有限公司相關網站，http://www.montrol.com.tw/，2011年4月。

指導教授

王文俊(Wen-june Wang)

審核日期

2012-7-20

推文