# 短语级机器人古琴演奏：双臂运动规划与音频-触觉交互监测

> 原文链接：https://robotics.hellobike.com/papers/2026-09-21-2609-24133
> 频道：papers | 更新日期：2026-09-21 | 标签：arxiv, cs.RO
> 核心摘要：提出异构双臂机器人古琴短语级演奏系统，用层级规划与音触觉反馈在实体古琴上验证。

# 短语级机器人古琴演奏：双臂运动规划与音频-触觉交互监测

::: v-pre
> 原文链接：[Phrase-Level Robotic Guqin Performance: Bimanual Motion Planning and Audio-Tactile Interaction Monitoring](https://arxiv.org/abs/2609.24133)（arXiv 2609.24133 · 发布日期：2026-09-21）

**Phrase-Level Robotic Guqin Performance: Bimanual Motion Planning and Audio-Tactile Interaction Monitoring**

提出异构双臂机器人古琴短语级演奏系统，用层级规划与音触觉反馈在实体古琴上验证。

## 核心要点

- 乐器演奏要求无碰轨迹、精确接触时序、双手协调和目标声学结果。
- 将古琴演奏表述为混合离散—连续执行问题，并采用层级规划框架。
- 系统结合视觉定位、触觉泛音接触监测和听觉反馈拨弦参数校准。
- 实体实验中，25事件乐句在重复试验中事件正确率达93.6%和96.8%。

**验证范围与局限**：验证限于实体古琴上的25事件乐句，包括空弦和七徽泛音序列。

## 英文摘要 (Abstract)

Recent advances in humanoid robotics and embodied intelligence have enabled robots to perform increasingly complex manipulation tasks. However, musical instrument performance remains a formidable benchmark, demanding not only collision-free trajectory execution but also precise contact timing, asymmetric bimanual coordination, and target acoustic outcomes on physical instruments. The guqin, a seven-string fretless zither, presents unique manipulation challenges due to its millimetric string spacing, transient right-hand plucking, and sustained left-hand harmonic contacts. In this work, we present a physical heterogeneous dual-arm robotic system for phrase-level autonomous guqin performance. We formulate guqin playing as a hybrid discrete--continuous execution problem and develop a hierarchical planning framework that coordinates working finger assignment, configuration continuity, obstacle avoidance, and tight bimanual contact schedules across consecutive musical events. The system integrates vision-guided instrument localization, tactile-based harmonic contact monitoring, and auditory feedback-informed plucking parameter calibration. Real-world experiments on a 25-event phrase demonstrate that the system reliably executes coordinated open-string and seventh-hui harmonic sequences on a physical guqin, achieving 93.6% and 96.8% event correctness across repeated trials.

作者：Zhen Wang, Chen, Zhiheng, Bao, Tianyuan, Tianwei Zhang
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## 原始参考来源 (Sources)

- [arXiv 2609.24133：Phrase-Level Robotic Guqin Performance: Bimanual Motion Planning and Audio-Tactile Interaction Monitoring](https://arxiv.org/abs/2609.24133)