外观
论文arXiv 2609.241331 个月前
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：Phrase-Level Robotic Guqin Performance: Bimanual Motion Planning and Audio-Tactile Interaction Monitoring（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
来源
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