用弹性机械手+智能优化，让机器人打出更稳更响的鼓滚奏。
Multi-bounce Drum Roll with Optimized Active Tricks to Leverage Soft Embodiment
- 设计拉拽与微脉冲技巧，利用软体弹性提升击打次数。
- 最优配置下单次击打反弹12.25次，声效效率比刚性手高6.8倍。
- 适合做音乐机器人、软体控制研究者参考。
本文提出一种软体机械手鼓手，实现精准高效的鼓滚奏。高频鼓滚需采用'多跳技术'，即一次击打使鼓槌多次弹起。机器人复现该技术时，机体弹性至关重要，击打过程中的精细动作也影响弹性发挥。为此，我们设计两种技巧：i) 拍拉（TP）技巧，在撞击后增加拉回动作以提升反弹次数；ii) 微脉冲（MP）技巧，在击打过程中注入小振荡以维持击打音量。由于软体系统非线性复杂，两种技巧均通过数据驱动的贝叶斯优化进行高效调参，以达成各自目标。我们对比了软体与刚性末端执行器的性能。结果表明，软体TP实现最高反弹数（12.25次/击），且间隔均匀；软体MP有效抑制音量衰减，声学效率较刚性MP提升6.8倍。这证明结合弹性与优化的策略可显著提升机器人鼓滚表现。
原文摘要 · Abstract (English)
This paper presents a soft robotic drummer for accurate and efficient drum rolls. High-frequency drum rolls require the "multi-bounce technique," where a drumstick bounces multiple times with a single stroke. In robotic reproduction of this technique, the body's elasticity is key, while the fine motion during the stroke is also crucial for maximizing the potential of that elasticity. Therefore, we design two tricks: i) Tap-Pull (TP) trick to increase the number of rebounds by adding a pulling motion after impact; and ii) Micro-Pulse (MP) trick to keep the drumming volume by injecting small oscillations during the stroke. Due to the nonlinear complexity of soft embodiment, both tricks are efficiently tuned using Bayesian optimization in a data-driven manner for accomplishing the respective objectives quantified. We evaluated the optimized behaviors with soft and rigid end-effectors. As a result, the soft TP achieved the highest bounce count (12.25 per stroke) with uniform intervals. The soft MP suppressed the volume decay, yielding 6.8-times higher acoustic efficiency compared to the rigid MP. These results indicate that the proposed tricks with the combination of elasticity and optimization can make robots play excellent drum rolls.
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