| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an automatic performance robot of a rubbed string instrument, wherein target value followability is improved and tone is close to that of human performance. <P>SOLUTION: Strain of a bow 920 is measured by a strain gage 930. In a performance data-storing section 210, strain data that indicate stress with which bow hair 922 presses strings 911 upon music performance is set and stored. A press angle of bow-calculating section 310 calculates a command value of a press angle of the bow 920 required to follow the strain data. A control parameter-setting section 350 updates and sets control parameters according to a contact position between the bow hair 922 and the strings 911 upon music performance. <P>COPYRIGHT: (C)2011,JPO&INPIT |
