Systems and methods are provided performing autonomous tuning of a stringed instrument. Images of the stringed instrument are acquired by at least two cameras and processed to identify the location of a peg. A robotic peg actuator is then engaged to actuate rotation of a peg in order to rotate the peg to a tuned angular orientation, guided by feedback generated by processing acoustic signals recorded by an acoustic transducer while a string associated with the peg is agitated. In some example implementations, the cameras and peg actuator are rigidly mounted to a frame that is configured to support the stringed instrument during peg imaging and actuation. A robotic string actuator may be provided to facilitate vibration of the string during the tuning process. Multiple robotic peg actuators may be included for per-peg rotational actuation and/or a given peg actuator may be robotically translatable to actuate more than one peg.

Robotic drummers include voice coil actuators that are coupled to linear-to-rotary motion convertors to produce drumstick rotations so as to strike a drum head. Such rotations can be triggered via a microprocessor using stored performance data, by a user with a mouse, trackpad, joystick, or other user input device. Performances are enhanced by driving the VCA with drive signals have random variations associated with strike timing, amplitude, location, and speed. Multiple strikes are provided by reducing, eliminating, or reversing drumstick rotation with a corresponding drive signal upon detection of drumstick contact with the drum head.

Systems and methods are provided performing autonomous tuning of a stringed instrument. Images of the stringed instrument are acquired by at least two cameras and processed to identify the location of a peg. A robotic peg actuator is then engaged to actuate rotation of a peg in order to rotate the peg to a tuned angular orientation, guided by feedback generated by processing acoustic signals recorded by an acoustic transducer while a string associated with the peg is agitated. In some example implementations, the cameras and peg actuator are rigidly mounted to a frame that is configured to support the stringed instrument during peg imaging and actuation. A robotic string actuator may be provided to facilitate vibration of the string during the tuning process. Multiple robotic peg actuators may be included for per-peg rotational actuation and/or a given peg actuator may be robotically translatable to actuate more than one peg.

A mobile terminal includes a display, a communicator configured to perform communication with a plurality of music bots, and a controller configured to extract sound source characteristic information from each of a plurality of previously divided sound source tracks configuring music, generate a plurality of control commands for controlling operation of the plurality of music bots using the extracted sound source characteristic information, and transmit each of the plurality of generated control commands to each of the plurality of music bots through the communicator.

A motion control method applied to a robot and the robot are provided. The method includes: obtaining a music file to be performed, where the music file includes a plurality of playing times and at least one played musical instrument at each playing time; determining a head position at each playing time according to the at least one played musical instrument at each playing time; and controlling a playing part and a head of the robot to execute a playing action, according to the at least one played musical instrument and the head position at each playing time, to allow a corresponding played musical instrument to generate a sound and allow the head to be in a corresponding head position at each playing time.

A robot control method includes obtaining relevant parameters at a moment when the robot beats the musical instrument, calculating a motion trajectory of an end of a limb of the robot in a beating action period, and obtaining a joint control quantity of the corresponding limb of the robot, so that the robot beats the musical instrument according to the joint control quantity, and a beating action is corrected according to a correction parameter input by a user until the performance effect of the robot meets the requirements.

Robotic drummers include voice coil actuators that are coupled to linear-to-rotary motion convertors to produce drumstick rotations so as to strike a drum head. Such rotations can be triggered via a microprocessor using stored performance data, by a user with a mouse, trackpad, joystick, or other user input device. Performances are enhanced by driving the VCA with drive signals have random variations associated with strike timing, amplitude, location, and speed. Multiple strikes are provided by reducing, eliminating, or reversing drumstick rotation with a corresponding drive signal upon detection of drumstick contact with the drum head,

A robot control method includes obtaining relevant parameters at a moment when the robot beats the musical instrument, calculating a motion trajectory of an end of a limb of the robot in a beating action period, and obtaining a joint control quantity of the corresponding limb of the robot, so that the robot beats the musical instrument according to the joint control quantity, and a beating action is corrected according to a correction parameter input by a user until the performance effect of the robot meets the requirements.

A method of generating a drum play motion of a robot includes generating a plurality of rhythms of a melody, assigning each of a plurality of notes forming a rhythm of each part to one of the right hand and the left hand of the robot, scheduling swing time of each of the right hand and the left hand to which each note is assigned, and generating a trajectory of each of a plurality of joints of the robot for playing the rhythm of each part based on the swing time of each of the right hand and the left hand, and by controlling a motion of each of the plurality of joints according to the trajectory of each of the plurality of joints generated in this way, creative drum play of a humanoid robot may be done when only a melody is input.