2020/07/29 by Ning Yang, Yang, Ning, Richard Savery +7
Computer Science · Engineering · Neuroscience · #FOS: Computer and information sciences #Music Technology and Sound Studies #Robot Manipulation and Learning #Robotics (cs.RO) #Tactile and Sensory Interactions
paper · pdf · doi:10.48550/arxiv.2007.14850
openalex publication_date 2020/07/29 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Musical expressivity is an important aspect of musical performance for humans as well as robotic musicians. We present a novel mechatronics-driven implementation of Brushless Direct Current (BLDC) motors in a robotic marimba player, named Shimon, designed to improve speed, dynamic range (loudness), and ultimately perceived musical expressivity in comparison to state-of-the-art robotic percussionist actuators. In an objective test of dynamic range, we find that our implementation provides wider and more consistent dynamic range response in comparison with solenoid-based robotic percussionists. Our implementation also outperforms both solenoid and human marimba players in striking speed. In a subjective listening test measuring musical expressivity, our system performs significantly better than a solenoid-based system and is statistically indistinguishable from human performers.