Data-driven Simulation Framework for Expressive Piano Playing by Anthropomorphic Hand with Variable Passive Properties
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Conference Name
5th IEEE-RAS International Conference on Soft Robotics (RoboSoft2022)
Type
Conference Object
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AM
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Wang, H., Howison, T., Hughes, J., Abdulali, A., & Iida, F. Data-driven Simulation Framework for Expressive Piano Playing by Anthropomorphic Hand with Variable Passive Properties. 5th IEEE-RAS International Conference on Soft Robotics (RoboSoft2022). https://doi.org/10.17863/CAM.81805
Abstract
The expressive piano playing generally requires
a delicate control over the keystroke by considering passive
dynamics of the hand and piano keyboard. It becomes even
more challenging when the passive properties change during
the performance. In this paper, we develop a framework
for expressive piano playing that simulates the interaction
between a soft anthropomorphic hand with variable passive
properties and a piano keyboard. The passive dynamics of
each system component in our framework are identified using
the data collected during real piano playing, which in turn,
helps to reduce the sim-to-real gap. To evaluate the proposed
framework, we have designed and fabricated a three-fingered
soft-rigid hybrid hand system with variable stiffness in each
finger, enabling diverse compliant behaviors for piano key
pressing. The results show that our proposed simulator achieves
less than 5% error rate in coordination with real-world piano
playing.
Sponsorship
EU-funded Marie Curie SMART ITN Project (860108)
Embargo Lift Date
2023-02-23
Identifiers
External DOI: https://doi.org/10.17863/CAM.81805
This record's URL: https://www.repository.cam.ac.uk/handle/1810/334389
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