dc.date.accessioned | 2021-05-03T20:32:09Z | |
dc.date.available | 2021-05-03T20:32:09Z | |
dc.date.created | 2021-04-16T15:50:47Z | |
dc.date.issued | 2021 | |
dc.identifier.citation | Karbasi, Seyed Mojtaba Godøy, Rolf Inge Jensenius, Alexander Refsum Tørresen, Jim . A Learning Method for Stiffness Control of a Drum Robot for Rebounding Double Strokes. 2021 7th International Conference on Mechatronics and Robotics Engineering (ICMRE). 2021, 54-58 IEEE | |
dc.identifier.uri | http://hdl.handle.net/10852/85902 | |
dc.description.abstract | In robot drumming, performing double stroke rolls is a key ability. Human drummers learn to play double strokes by just trying it several times. For performing it, a model needs to be learned to provide anticipatory commands during drumming. Joint stiffness plays a key role in rebounding double stroke task and should be considered in the model. We have introduced an interactive learning method for a drum robot to learn joint stiffness for rebounding double stroke task. The model is simulated for a 2-DoF robotic arm. The algorithm is simulated with 3 different drum kits to show the robustness of the learning approach. The simulation results also show significant compatibility with human performance results. In addition, the refined learning algorithm adjusts the stroke timing which is important for producing proper rhythms. | |
dc.language | EN | |
dc.publisher | IEEE | |
dc.title | A Learning Method for Stiffness Control of a Drum Robot for Rebounding Double Strokes | |
dc.type | Chapter | |
dc.creator.author | Karbasi, Seyed Mojtaba | |
dc.creator.author | Godøy, Rolf Inge | |
dc.creator.author | Jensenius, Alexander Refsum | |
dc.creator.author | Tørresen, Jim | |
cristin.unitcode | 185,15,5,95 | |
cristin.unitname | RITMO Senter for tverrfaglig forskning på rytme, tid og bevegelse (IFI) | |
cristin.ispublished | true | |
cristin.fulltext | original | |
dc.identifier.cristin | 1904652 | |
dc.identifier.bibliographiccitation | info:ofi/fmt:kev:mtx:ctx&ctx_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.btitle=2021 7th International Conference on Mechatronics and Robotics Engineering (ICMRE)&rft.spage=54&rft.date=2021 | |
dc.identifier.startpage | 54 | |
dc.identifier.endpage | 58 | |
dc.identifier.pagecount | 215 | |
dc.identifier.doi | http://dx.doi.org/10.1109/ICMRE51691.2021.9384843 | |
dc.identifier.urn | URN:NBN:no-88568 | |
dc.type.document | Bokkapittel | |
dc.type.peerreviewed | Peer reviewed | |
dc.source.isbn | 978-0-7381-3205-1 | |
dc.identifier.fulltext | Fulltext https://www.duo.uio.no/bitstream/handle/10852/85902/1/Final_draft3.pdf | |
dc.type.version | AcceptedVersion | |
cristin.btitle | 2021 7th International Conference on Mechatronics and Robotics Engineering (ICMRE) | |