公开(公告)号：EP2469506A1

公开(公告)日：2012-06-27

申请号：EP11005982.1

申请日：2011-07-21

申请人： National Taiwan University of Science and Technology

发明人： Lin, Yung-Wei

IPC分类号： G10F3/00 ,  G10H1/00 ,  B25J11/00

CPC分类号： G10F3/00 ,  B25J5/02 ,  B25J11/004 ,  B25J19/06 ,  G10H1/0066

摘要： A chord-playing robot system is disclosed. The robot system includes a computer including an anti-collision program, two linear motors, two moving devices, and two finger-like devices. The finger-like devices are respectively connected with the moving devices. The anti-collision program is executed to prevent the moving devices from colliding with each other. The linear motors are controlled by the computer and are operable to drive the moving devices. Each finger-like device includes a plurality of tubular solenoids and a plurality of electromagnetic bars. The tubular solenoids are disposed in alternating sequence in two rows. The computer is operable to determine if there is any one of the tubular solenoids shall be switched on. The at least one tubular solenoid, upon switched on, is configured to move the associated electromagnetic bar toward for pressing a key on a piano.

摘要翻译： 公开了一种和弦机器人系统。 机器人系统包括包括防碰撞程序，两个线性马达，两个移动装置和两个手指状装置的计算机。 手指状的装置分别与移动装置连接。 执行防冲突程序以防止移动装置相互碰撞。 线性电动机由计算机控制并可操作以驱动移动装置。 每个指状装置包括多个管状螺线管和多个电磁条。 管状螺线管以两行交替排列。 计算机可操作以确定是否有任何一个管状螺线管接通。 所述至少一个管状螺线管在接通时被配置成移动相关联的电磁条以用于按压钢琴上的琴键。

公开(公告)号：EP2469506B1

公开(公告)日：2013-04-17

申请号：EP11005982.1

申请日：2011-07-21

申请人： National Taiwan University of Science and Technology

发明人： Lin, Yung-Wei ,  Fahn, Chin-Shyurng

IPC分类号： G10F3/00 ,  G10H1/00 ,  B25J11/00

CPC分类号： G10F3/00 ,  B25J5/02 ,  B25J11/004 ,  B25J19/06 ,  G10H1/0066

公开(公告)号：EP4394757A1

公开(公告)日：2024-07-03

申请号：EP23176126.3

申请日：2023-05-30

申请人： Beijing Xiaomi Robot Technology Co., Ltd.

发明人： SUN, Guokang ,  CAO, Sheng ,  XIN, Quanbin ,  GAO, Yinghao ,  ZHANG, Zebang ,  REN, Zeyu ,  SUN, Chenguang ,  ZHANG, Jiajun ,  GUO, Wenping ,  XIANG, Diyun

IPC分类号： G10H1/00 ,  G10H1/40 ,  B25J11/00 ,  B25J9/16

CPC分类号： G10H1/40 ,  G10H1/00 ,  B25J11/004 ,  B25J9/1679 ,  B25J9/1664 ,  B25J9/1628

摘要： A robot control method includes: obtaining (S101) relevant parameters at a moment when the robot beats the musical instrument, calculating (S102) a motion trajectory of an end of a limb of the robot in a beating action period, and obtaining (S103) a joint control quantity of the corresponding limb of the robot, so that the robot beats the musical instrument according to the joint control quantity, and a beating action is corrected according to a correction parameter input by a user (S 104) until the performance effect of the robot meets the requirements.

公开(公告)号：EP4382265A1

公开(公告)日：2024-06-12

申请号：EP23170045.1

申请日：2023-04-26

申请人： Beijing Xiaomi Robot Technology Co., Ltd.

发明人： SUN, Guokang ,  CAO, Sheng ,  XIN, Quanbin ,  GAO, Yinghao ,  ZHANG, Zebang ,  REN, Zeyu ,  SUN, Chenguang ,  ZHANG, Jiajun ,  GUO, Wenping ,  XIANG, Diyun

IPC分类号： B25J11/00

CPC分类号： B25J11/004 ,  G05B2219/4041120130101

摘要： A motion control method applied to a robot and the robot are provided. The method includes: obtaining (S101) a music file to be performed, wherein the music file comprises a plurality of playing times and at least one played musical instrument at each playing time; determining (S102) a head position at each playing time according to the at least one played musical instrument at each playing time; and controlling (S103) a playing part and a head of the robot to execute a playing action, according to the at least one played musical instrument and the head position at each playing time, to allow a corresponding played musical instrument to generate a sound and allow the head to be in a corresponding head position at each playing time.