Imperial College London

Professor Peter Y. K. Cheung

Faculty of EngineeringDyson School of Design Engineering

Head of the Dyson School of Design Engineering



+44 (0)20 7594 6200p.cheung Website




Mrs Wiesia Hsissen +44 (0)20 7594 6261




910BElectrical EngineeringSouth Kensington Campus






BibTex format

author = {Wu, Y and Kuvinichkul, P and Cheung, PYK and Demiris, Y},
doi = {10.1109/ROBIO.2010.5723333},
pages = {235--240},
publisher = {IEEE},
title = {Towards Anthropomorphic Robot Thereminist},
url = {},
year = {2010}

RIS format (EndNote, RefMan)

AB - Theremin is an electronic musical instrument considered to be the most difficult to play which requires the player's hands to have high precision and stability as any position change within proximity of the instrument's antennae can make a difference to the pitch or volume. In a different direction to previous developments of Theremin playing robots, we propose a Humanoid Thereminist System that goes beyond using only one degree of freedom which will open up the possibility for robot to acquire more complex skills, such as aerial fingering and include musical expressions in playing the Theremin. The proposed system consists of two phases, namely calibration phase and playing phase which can be executed independently. During the playing phase, the System takes input from a MIDI file and performs path planning using a combination of minimum energy strategy in joint space and feedback error correction for next playing note. Three experiments have been conducted to evaluate the developed system quantitatively and qualitatively by playing a selection of music files. The experiments have demonstrated that the proposed system can effectively utilise multiple degrees of freedoms while maintaining minimum pitch error margins.
AU - Wu,Y
AU - Kuvinichkul,P
AU - Cheung,PYK
AU - Demiris,Y
DO - 10.1109/ROBIO.2010.5723333
EP - 240
PY - 2010///
SP - 235
TI - Towards Anthropomorphic Robot Thereminist
UR -
UR -
ER -