STARI: A self tuning auto-monochord robotic instrument

This paper outlines the motivation, design and development of a self-tuning, robotic monochord. This work presents a portable, autonomous musical robotic string instrument intended for creative and pedagogical use. Detailed tests performed to optimize technical aspects of STARI are described to highlight usability and performance specifications for artists and educators. STARI is intended to be open-source so that the results are reproducible and expandable using common components with minimal financial constraints. Because the field of musical robotics is so new, standardized systems need to be designed from existing paradigms. Such paradigms are typically singular in nature, solely reflecting the idiosyncrasies of the artist and often difficult to reproduce. STARI is an attempt to standardize certain existing actuated string techniques in order to establish a formal system for experimentation and pedagogy.