Parameterizing Method of Music Notation for Motion Timing and Control in a Piano-Playing Robot

This study investigated methods for interpreting sheet music data and converting them into control variables for robots to play the piano. Previous research has addressed the timing and duration of key presses but has not clearly defined the initiation of actions from the perspective of the robot. In addition, the relationship between key press speed and velocity values from the musical instrument digital interface has not adequately addressed sound intensity. Therefore, this research proposes a method for converting musical symbols into control variables, defining the timing of each robot action, and linking key press speed to sound intensity for precise volume control. The study details the timing of the movements of the robot’s fingers and arms and adjusts pedaling according to temporal variations in piano performance. The proposed methods was validated through experiments using a cartesian robot with two hands. The experimental results confirm that the method effectively controls timing and volume of the robot’s play. This study analyzes the impact of varying musical symbols on performance through experiments and suggests their applicability to various robotic forms for piano playing.