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The automatic playing robot of saxophone is the robot that can control the reed pressing force by the artificial mouth system, control the blowing air pressure by the special pressure control valve and operate the fingering system using sheet music data just like a human player. Because the existing system uses desktop PC and PCI bass interface boards, it has problems of transportation and mobility at the situation of attending the concert with human players. Therefore, in this paper, compactification of the system is considered by using a note-PC as the controllers and using USB nterface of D/A and DIO for control devices. Furthermore, it is necessary for the robot to play with human players of a big band that it can use more sophisticated musical expressions such as sub-tones and over-tones besides attacks, envelope control and high level vibration techniques. Therefore improvements for more sophisticated performance abilities are proposed.

Robot Assisted Activity (RAA) and Robot Assisted Therapy (RAT) were put into practice and shown to be effective at the rehabilitation ward and elderly persons' nursing home using commercially available entertainment robots. Animal Assisted Activity (AAA) and Animal Assisted Therapy (AAT) are well known and modeled on this study. Remote control of the robot that is impossible in the case of an animal showed very effective in the rehabilitation practice and Robot Assisted Rehabilitation (RAR) was proposed. However there are several problems for the remote controlled RAR to receive wide recognition as the candidate of the complementary medicine. One of the problems is that the robot operator is needed besides intervener or therapist. To solve this problem a small and simple operating terminal with www browser was developed aiming it can be used by the intervener. In this paper, preliminary studies of RAA/RAT are reported laying stress on rehabilitation application and improvement of the robot remote control system.

本稿では, 人の呼びかけに反応して様々な動作を行うエンタテインメントバルーンロボットの開発と基礎的な実験について報告する.バルーンロボットにはワイヤレスCCDカメラとワイヤレスマイクが搭載され, 人の拍手を感知して回転動作や上下移動を行う.人の呼びかけに対しては, 確率的状態遷移機械を利用することによって, 不確実な再現性をともなった動作系列の生成を実現した.バルーンは空調などの外乱に容易に影響を受けるので, 連続的に動作可能な状態を維持することは困難であるが, 地面に置かれたランドマークを利用したホバリング制御に基づいて制御することによって長時間安定してインタラクティブな飛行を可能とした.実験を通して, 人とインタラクションをとりながら長時間飛行が可能であることを確認した., In this paper, we report the development of the entertainment blimp robot which can make several reactive behaviors for user's appeal. The blimp robot has a wireless CCD camera and wireless microphone at the bottom of body, and rotates or goes upward/downward by trigger of user's handclap. To make variety reactions of the blimp robot, a sequence of robot behavior is generated based on the nondeterministic finite state machine. In addition, the stable flying behavior is achieved by the proposed hovering control based on grounded red circle landmarks. Throughout an experiment, we confirm that the blimp robot can fly long-term with user-interaction.