本論文目標為設計一具有聽音、辨音與演奏功能之機器人，經由使用者與機器人在音樂上的互動，來達到娛樂與教育的效果。此機器人使用七顆AX-12馬達來組成雙手與腰部，每隻手持有一根鼓棒，利用腰部轉動再配合雙手開合以及打擊的動作，來完成演奏的功能。此機器人也具聽音、辨音功能，以麥克風收音與電腦端分析來執行之。機器人與使用者互動中，包含兩主要模式：模式一為「模仿模式」，使用者可隨意在電子琴演奏一段音樂，機器人可以聽音、記憶並加以辨識，模仿出使用者彈奏的旋律；模式二為「指定曲目模式」，我們建立了30首歌曲樂譜的資料庫，機器人可以實現以下兩種表演：1. 使用者任選資料庫中之某一首曲子，並用電子琴任意彈奏某連續兩小節，機器人亦能正確辨識出是哪一首曲子，並表演出完整全曲。2. 若使用者彈錯某些音符或變調(如：C大調錯彈成G大調)，機器人仍能正確辨識出是哪一首曲子，並雙部演奏全曲。本論文之成果可應用於協助初學音樂的孩童或成人，透過與機器人互動增加學習音樂之興趣，進而學習樂理基本認識與聽力練習，兼具寓教於樂的效果。 The goal of this thesis is to design a robot which has interaction with human by performing music learning and playing. This study can be an application for both education and recreation. The robot not only can listen, recognize and memorize the melody, but also can play the recognized music. The robot has a waist and two hands composed of seven AX-12 motors. Each hand holds one drumstick. Combining two hands’ beating motion and waist rotation, the robot can play music in the music bricks. The interaction between the robot and human has two modes. Mode 1：The user plays a music in an electric keyboard, then the robot listens and recognizes the melody. Finally the robot plays the melody that was played by the user. In Mode 2, we have thirty songs available for the user to choose. The user only requires to play at least eight notes of the melody from any part of the song. The robot recognizes the pitch and the rhythm of the melody, then it will choose the correct song to play.
