Wayang Robot with Gamelan Music Pattern Recognition

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  • Tomo Tito Pradhono
    Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University
  • Schmitz Alexander
    Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University
  • Enriquez Guillermo
    Department of Applied Physics, School of Advanced Science and Engineering, Waseda University
  • Hashimoto Shuji
    Department of Applied Physics, School of Advanced Science and Engineering, Waseda University
  • Sugano Shigeki
    Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University

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Abstract

<p>This paper proposes a way to protect endangered wayang puppet theater, an intangible cultural heritage from Indonesia, by turning a robot into a puppeteer successor. We developed a seven degrees-of-freedom (DOF) manipulator to actuate the sticks attached to the wayang puppet body and hands. The robot can imitate 8 distinct human puppeteer’s manipulations. Furthermore, we developed a gamelan music pattern recognition, towards a robot that can perform based on the gamelan music. In the offline experiment, we extracted energy (time domain), spectral rolloff, 13 Mel-frequency cepstral coefficients (MFCCs), and the harmonic ratio from 5 s long clips, every 0.025 s, with a window length of 1 s, for a total of 2576 features. Two classifiers (3 layers feed-forward neural network (FNN) and multi-class Support Vector Machine (SVM)) were compared. The SVM classifier outperformed the FNN classifier with a recognition rate of 96.4% for identifying the three different gamelan music patterns.</p>

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