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1、RoboticsandAutonomousSystems59(2011)943–953ContentslistsavailableatSciVerseScienceDirectRoboticsandAutonomousSystemsjournalhomepage:www.elsevier.com/locate/robotAfacerobotforautonomoussimplifiedmusicalnotationreadingandsingingChyi-YeuLina,∗,Li-ChiehChenga,Chang-
2、KuoTsenga,Hung-YanGub,Kuo-LiangChungb,Chin-ShyurngFahnb,Kai-JayLub,Chih-ChengChangcaDepartmentofMechanicalEngineering,NationalTaiwanUniversityofScienceandTechnology,10607,Taipei,TaiwanbDepartmentofComputerScienceandInformationEngineering,NationalTaiwanUniversity
3、ofScienceandTechnology,10607,Taipei,TaiwancInstituteofAutomationandControl,NationalTaiwanUniversityofScienceandTechnology,10607,Taipei,TaiwanarticleinfoabstractArticlehistory:Thisresearchisaimedtodeviseananthropomorphicroboticheadwithahuman-likefaceandasheetofRe
4、ceived17January2011artificialskinthatcanreadarandomlycomposedsimplifiedmusicalnotationandsingthecorrespondingReceivedinrevisedformcontentofthesongonce.Thefacerobotiscomposedofanartificialfacialskinthatcanexpressanumberof12May2011facialexpressionsviamotionsdriven
5、byinternalservomotors.Twocameras,eachoftheminstalledinsideAccepted2July2011eacheyeballoftheface,providevisioncapabilityforreadingsimplifiedmusicalnotations.ComputerAvailableonline28July2011visiontechniquesaresubsequentlyusedtointerpretsimplifiedmusicalnotationsa
6、ndlyricsoftheircorrespondingsongs.VoicesynthesistechniquesareimplementedtoenablethefacerobottosingsongsKeywords:byenunciatingsynthesizedsounds.MouthpatternsofthefacerobotwillbeautomaticallychangedtoFacerobotFacialexpressionmatchtheemotionscorrespondingtothelyric
7、softhesongs.TheexperimentsshowthatthefacerobotMusicalnoteinterpretationcansuccessfullyreadandthenaccuratelysingasongwhichisassigneddiscriminately.Voicesynthesis©2011ElsevierB.V.Allrightsreserved.1.IntroductionKismet’svisionandhearingabilities,eacheyeballisinstal
8、ledacamera,andeachearisequippedwithamicrophone.KismetcanInrecentyears,moreandmoreintelligentrobotshavebeeninterpretemotionsofthepeopleinfrontofhimandcanshowdevelopedf
