Realization of Musical Saw Bowing by Industrial Humanoid Robot

In a previous study, we examined the performance of musical saw bows using a western saw, which is not only an unfamiliar tool but also difficult to handle owing to its excellent shape and flexibility among various musical instruments. In the previous study, we achieved performance control by blowing; however, we could not control the sound other than blowing. In this study, we focused on bowing, which is used in the evaluation of musical saw performance, in addition to striking. Moreover, self-excited vibrations must be generated by stick-slip based on the performance. Consequently, the pressure and velocity must be controlled to verify the generation of the self-excited vibration and the vibration itself. In addition to the generation of sound by a self-excited vibration, this study discusses the pure sound nature of the vibration. This approach differs from those implemented in previous studies to suppress the self-excited vibration. Furthermore, we present a method to realize the musical saw movement using an industrial humanoid robot.