{"id":"https://openalex.org/W2169897094","doi":"https://doi.org/10.1109/robot.2009.5152313","title":"Development of the anthropomorphic saxophonist robot WAS-1: Mechanical design of the lip, tonguing, fingers and air pump mechanisms","display_name":"Development of the anthropomorphic saxophonist robot WAS-1: Mechanical design of the lip, tonguing, fingers and air pump mechanisms","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2169897094","doi":"https://doi.org/10.1109/robot.2009.5152313","mag":"2169897094"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152313","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152313","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5015637322","display_name":"Klaus Petersen","orcid":"https://orcid.org/0000-0003-0261-2118"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Klaus Petersen","raw_affiliation_strings":["Graduate School of Advanced Science and Engineering, Waseda University, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Advanced Science and Engineering, Waseda University, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101914583","display_name":"Jorge Solis","orcid":"https://orcid.org/0000-0002-6865-7346"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jorge Solis","raw_affiliation_strings":["Department of Modern Mechanical Engineering, Waseda University, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Waseda University, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108619699","display_name":"Takeshi Ninomiya","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takeshi Ninomiya","raw_affiliation_strings":["Graduate School of Advanced Science and Engineering, Waseda University, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Advanced Science and Engineering, Waseda University, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103756975","display_name":"Tetsuro Yamamoto","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tetsuro Yamamoto","raw_affiliation_strings":["Graduate School of Advanced Science and Engineering, Waseda University, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Advanced Science and Engineering, Waseda University, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100726349","display_name":"Masaki Takeuchi","orcid":"https://orcid.org/0000-0002-0773-7705"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masaki Takeuchi","raw_affiliation_strings":["Graduate School of Advanced Science and Engineering, Waseda University, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Advanced Science and Engineering, Waseda University, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075328170","display_name":"Atsuo Takanishi","orcid":"https://orcid.org/0009-0009-9388-9278"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsuo Takanishi","raw_affiliation_strings":["Department of Modern Mechanical Engineering, Waseda University, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Waseda University, Japan","institution_ids":["https://openalex.org/I150744194"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5015637322"],"corresponding_institution_ids":["https://openalex.org/I150744194"],"apc_list":null,"apc_paid":null,"fwci":0.6471,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.74488702,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"48","issue":null,"first_page":"3043","last_page":"3048"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11349","display_name":"Music Technology and Sound Studies","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11349","display_name":"Music Technology and Sound Studies","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11309","display_name":"Music and Audio Processing","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10860","display_name":"Speech and Audio Processing","score":0.9911999702453613,"subfield":{"id":"https://openalex.org/subfields/1711","display_name":"Signal Processing"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.70167076587677},{"id":"https://openalex.org/keywords/bionics","display_name":"Bionics","score":0.529689610004425},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4678533673286438},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4216727614402771},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3737800717353821},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.34162047505378723},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3121115565299988}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.70167076587677},{"id":"https://openalex.org/C91316289","wikidata":"https://www.wikidata.org/wiki/Q189131","display_name":"Bionics","level":2,"score":0.529689610004425},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4678533673286438},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4216727614402771},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3737800717353821},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.34162047505378723},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3121115565299988}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2009.5152313","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152313","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1517385989","https://openalex.org/W1965537615","https://openalex.org/W2067732719","https://openalex.org/W2098497532","https://openalex.org/W2098664101","https://openalex.org/W2099489047","https://openalex.org/W2111481205","https://openalex.org/W2156758150","https://openalex.org/W2170606587","https://openalex.org/W2665441298","https://openalex.org/W4205676487","https://openalex.org/W6630846867"],"related_works":["https://openalex.org/W2067599149","https://openalex.org/W2361612543","https://openalex.org/W2348408789","https://openalex.org/W2359086065","https://openalex.org/W2382708955","https://openalex.org/W1985413557","https://openalex.org/W2384354767","https://openalex.org/W2377099152","https://openalex.org/W2350835789","https://openalex.org/W2381395872"],"abstract_inverted_index":{"The":[0],"research":[1,69],"on":[2,13,114],"the":[3,14,19,37,54,72,103,115,146,151,175,178,191,201,212,222,228,231,236],"development":[4,20,73],"of":[5,21,25,45,64,74,84,106,118,141,177,180,184,193,197,211,230],"musical":[6,27,87,95],"performance":[7,96],"robots":[8,23,59,97],"has":[9,129,138],"been":[10,30,130,187],"particularly":[11],"intensified":[12],"last":[15],"decades.":[16],"In":[17,66,108,171,189],"fact,":[18],"anthropomorphic":[22,76,120],"able":[24,81],"playing":[26,133],"instruments":[28],"have":[29,112,186,226],"served":[31],"as":[32,47,49],"a":[33,86,139,182,208],"mean":[34],"for":[35,132],"understanding":[36,50],"human":[38,57],"motor":[39],"control":[40],"from":[41,60],"an":[42,61,75,119,134],"engineering":[43],"point":[44,63],"view":[46],"well":[48],"how":[51],"to":[52,91,173,234],"enable":[53],"communication":[55],"between":[56],"and":[58,164,168,200,219],"emotional":[62,104],"view.":[65],"particular,":[67,190],"our":[68],"aims":[70],"in":[71],"saxophonist":[77],"robot":[78,121],"which":[79,128,143],"is":[80,217],"not":[82],"only":[83],"performing":[85],"score;":[88],"but":[89],"also":[90],"interact":[92],"with":[93],"other":[94],"(i.e.":[98],"Waseda":[99,122],"Flutist":[100],"Robot)":[101],"at":[102],"level":[105,196],"perception.":[107],"this":[109],"year,":[110],"we":[111,225],"focused":[113],"mechanical":[116,198],"design":[117],"Saxophonist":[123],"Robot":[124],"No.":[125],"1":[126],"(WAS-1);":[127],"designed":[131],"alto":[135],"saxophone.":[136],"WAS-1":[137,216],"total":[140],"15-DOFs":[142],"mechanically":[144],"reproduces":[145],"following":[147],"organs":[148],"involved":[149],"during":[150],"saxophone":[152,237],"playing:":[153],"lips":[154],"(1-DOF),":[155,157],"tongue":[156],"oral":[158],"cavity,":[159],"lungs":[160],"(air":[161],"pump:":[162],"1-DOF":[163],"air":[165,194],"valve:":[166],"1-DOF)":[167],"fingers":[169],"(11-DOFs).":[170],"order":[172],"verify":[174],"effectiveness":[176,229],"production":[179],"sound,":[181],"set":[183],"experiments":[185],"proposed.":[188],"characteristics":[192],"flow-pressure,":[195],"noise,":[199],"ripple":[202],"effect":[203],"ratio":[204],"are":[205],"presented.":[206],"Finally,":[207],"qualitative":[209],"evaluation":[210],"sound":[213],"produced":[214],"by":[215],"presented":[218],"discussed.":[220],"From":[221],"experimental":[223],"results,":[224],"confirmed":[227],"proposed":[232],"mechanisms":[233],"produce":[235],"sound.":[238]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}