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1、RoboticsandAutonomousSystems59(2011)943–953ContentslistsavailableatSciVerseScienceDirectRoboticsandAutonomousSystemsjournalhomepage:www.elsevier.com/locate/robotAfacerobotforautonomoussimplifiedmusicalnotationreadingandsingingChyi-YeuLina,?,Li-ChiehChenga,Chang-KuoTsenga,Hung-YanGub,Kuo-LiangC
2、hungb,Chin-ShyurngFahnb,Kai-JayLub,Chih-ChengChangcaDepartmentofMechanicalEngineering,NationalTaiwanUniversityofScienceandTechnology,10607,Taipei,TaiwanbDepartmentofComputerScienceandInformationEngineering,NationalTaiwanUniversityofScienceandTechnology,10607,Taipei,TaiwancInstituteofAutomation
3、andControl,NationalTaiwanUniversityofScienceandTechnology,10607,Taipei,TaiwanarticleinfoabstractArticlehistory:Thisresearchisaimedtodeviseananthropomorphicroboticheadwithahuman-likefaceandasheetofReceived17January2011artificialskinthatcanreadarandomlycomposedsimplifiedmusicalnotationandsingthe
4、correspondingReceivedinrevisedformcontentofthesongonce.Thefacerobotiscomposedofanartificialfacialskinthatcanexpressanumberof12May2011facialexpressionsviamotionsdrivenbyinternalservomotors.Twocameras,eachoftheminstalledinsideAccepted2July2011eacheyeballoftheface,providevisioncapabilityforreadin
5、gsimplifiedmusicalnotations.ComputerAvailableonline28July2011visiontechniquesaresubsequentlyusedtointerpretsimplifiedmusicalnotationsandlyricsoftheircorrespondingsongs.VoicesynthesistechniquesareimplementedtoenablethefacerobottosingsongsKeywords:byenunciatingsynthesizedsounds.Mouthpatternsofth
6、efacerobotwillbeautomaticallychangedtoFacerobotFacialexpressionmatchtheemotionscorrespondingtothelyricsofthesongs.TheexperimentsshowthatthefacerobotMusicalnoteinterpretationcansuccessfullyreadandthenaccuratelysingasongwhichisassigneddiscriminately.Voicesynthesis?2011ElsevierB.V.Allrightsreserv
7、ed.1.IntroductionKismet’svisionandhearingabilities,eacheyeballisinstalledacamera,andeachearisequippedwithamicrophone.KismetcanInrecentyears,moreandmoreintelligentrobotshavebeeninterpretemotionsofthepeopleinfrontofhimandcanshowdevelopedf
