Piano Virtuoso

Ananth Kuchibhotla, Simin Liu, Sakshi Madan, Chris Powers

Project Scope

Our project was to design a system that will enable the Baxter robot to play songs on the piano using both hands given an input of key names.

Goals

Find correct pose of each piano key
Create a good sound when the arm hits the key
Play chords simultaneously with the melody

EE106A - Baxter Playing Piano w: Chords.mp4

Interesting Problems

Determining accurate pose positions of the keys using coordinate transformation from camera to AR markers.
Calibrating the position and orientations of the gripper.
Accurate path planning with collision-awareness for close proximity positions.
Coordinating path planning between both arms of the Baxter.

Real-world Applications

Robots playing the piano is largely entertaining and novel to most people.
Work as a supplementary tool for beginning students learning to play the piano at home.

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