Abstract
We present an adaptive pitch control method for a theremin playing robot in ensemble. The problem of the theremin playing is its sensitivity to the environment. This degrades the pitch accuracy because its pitch characteristics are time varying caused by, such as a co-player motion during the ensemble. We solve this problem using a state space model of this characteristics and an unscented Kalman filter. Experimental results show that our method reduces the pitch error the EKF and block-wise update method by 90% and 77% on average, and the robot can play a musical score of 72.9 cent error on average.
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© 2012 Springer-Verlag Berlin Heidelberg
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Mizumoto, T., Takahashi, T., Ogata, T., Okuno, H.G. (2012). Adaptive Pitch Control for Robot Thereminist Using Unscented Kalman Filter. In: Ding, W., Jiang, H., Ali, M., Li, M. (eds) Modern Advances in Intelligent Systems and Tools. Studies in Computational Intelligence, vol 431. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-30732-4_3
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DOI: https://doi.org/10.1007/978-3-642-30732-4_3
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-30731-7
Online ISBN: 978-3-642-30732-4
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