Force and Impedance Control for Automatic Violin Performance

Kodai Fujisaki, Hiroki Kurumatani, Seiichiro Katsura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Bowing a string requires not only the control of the position and velocity of the bow but also the control of impedance. Once the string starts vibrating, the vibration propagates through the bow to the arm holding the bow. Depending on the responsiveness or the impedance of the arm, the resulting motion changes. Therefore, this paper proposes the use of force and impedance control for reproducing the task of violin performance. We used a simple two-link manipulator to conduct experiments. The first experiment aims to identify the range of force and velocity necessary for the string to follow a periodic motion. Within the range, the second experiment examines the relationship between impedance gains and the timbre of the violin. In the last experiment, the performance of the robot is compared with the performance of an experienced violin player. Through the experiments, this paper verifies the effectiveness of force and impedance control in reproducing violin performance.

Original languageEnglish
Title of host publication2020 IEEE 29th International Symposium on Industrial Electronics, ISIE 2020 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1578-1583
Number of pages6
ISBN (Electronic)9781728156354
DOIs
Publication statusPublished - 2020 Jun
Event29th IEEE International Symposium on Industrial Electronics, ISIE 2020 - Delft, Netherlands
Duration: 2020 Jun 172020 Jun 19

Publication series

NameIEEE International Symposium on Industrial Electronics
Volume2020-June

Conference

Conference29th IEEE International Symposium on Industrial Electronics, ISIE 2020
CountryNetherlands
CityDelft
Period20/6/1720/6/19

Keywords

  • impedance control
  • motion
  • robot
  • sound
  • violin

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering

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  • Cite this

    Fujisaki, K., Kurumatani, H., & Katsura, S. (2020). Force and Impedance Control for Automatic Violin Performance. In 2020 IEEE 29th International Symposium on Industrial Electronics, ISIE 2020 - Proceedings (pp. 1578-1583). [9152550] (IEEE International Symposium on Industrial Electronics; Vol. 2020-June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISIE45063.2020.9152550