Slide 1

BreakBot consists of four subassemblies: a hi-hat, a kick drum, a snare, and a crash cymbal. Each of the four drum kit components has an assortment of actuators to strike and, in some cases, dampen or brush the drums. BreakBot’s hi-hat has two actuators: a linear solenoid connected to a drum stick which serves as a striker and a second solenoid connected to a padded rotary arm which functions as a damper. The damper can be actuated after striking the hi-hat to create a closed hi-hat sound. BreakBot’s crash cymbal behaves similarly, substituting the damper for a second padded beater: the beaters can be actuated quickly to create cymbal washes. The kick drum has two particularly powerful solenoid beaters attached to rotary arms. Each striker hits a different side of the kick drum and can be fired sequentially to allow for for aggressive double bass-style rolls. BreakBot’s snare has four actuators: two solenoids and a DC motor. Two solenoids are connected to a standard drumsticks which can be manually positioned to strike the drum head or rim at different points. The second solenoid raises and lowers a brush. The brush is connected to a DC motor on a crank mechanism which can be rotated with MIDI signals to move the brush across the drumhead, creating a brushed snare sound.

Ajay Kapur, Michael Darling, Meason Wiley, Ben Womick, John Aspinall, Roger Marcelo, Duncan Woodbury

2010

Slide 1

The NotomotoN has two types of beater assemblies each utilizing a different actuation technique. The two types of beaters used were the TrimpTron and the KalTron. The TrimpTron solenoid assembly makes use of a rotary solenoid mounted perpendicular to the NotomotoN’s drumheads. Its aluminum mounting bracket can be rotated on the robot’s superstructure, allowing for a wide variety of timbres as the drum head is struck in different places. The KalTron drumbeater assembly uses a modified pull-type solenoid arranged such that its linear motion is converted to rotational motion. The pull solenoids used in the KalTrons allow for very rapid-fire actuation: high-speed rolls are possible using the KalTrons. A chief design objective in the conception of the NotomotoN was the integration of power and electronics in the main body of the drum. The NotomotoN needs only two cables: one for power and a USB cable for communication.The electronics on the NotomotoN are powered via USB. The Actuators run off 24 Volt power supply built into the instrument. To communicate, the NotomotoN uses MIDI over USB. Open Sound Control has been implemented on the middleware to allow users flexibility in communication protocols.

Ajay Kapur, Michael Darling, Jim Murphy, Dimitri Diakopoulos, Jordan Hochenbaum

2010

Slide 1

Slide 1

At six feet tall, Tammy is physically the largest robot in the Orchestra. The name Tammy is derived from the initials of the first names of the robotic-design class’s teachers: Trimpin, Ajay Kapur, and Michael Darling. Tammy was built as a cooperative project between three groups of students, each designing an instrument attached to its spine-like frame. Tammy comprises a marimba, a plucked-string instrument, and five found-object bells. The single-octave pentatonic marimba is hand-crafted from Honduran rosewood and struck from the anterior side by push solenoids. Push solenoids were selected due to the adaptability of the springs used in their actuation; each solenoid was tuned for maximal speed, permitting the performance of rhythmically dense clusters of notes. Tammy’s bell section is made of aluminum fence caps and rotary dial phone bells. The bells are suspended above the base and struck with rotary solenoids.

Michael Darling, Ajay Kapur, Jim Murphy, Carl Burgin, Jordan Hochenbaum, Owen Vallis, Steve Reush

Mentors: Trimpin

2009

Slide 1

Robotic Reyong is an instrument that uses an array of solenoids to play a reyong, a traditional Balinese gamelan instrument composed of inverted metal pots. The reyong is set up beneath a metal frame, upon which short-travel push solenoids are attached. The push solenoids are capable of very fast operation, allowing for experimental and extended composition techniques, including the use of sustained tones. The Robotic Reyong has performed alongside a traditional Balinese gamelan ensemble.

Tyler Yamin, Ajay Kapur

2009

Slide 1

GanaPatiBot was conceived of as a successor to MahaDeviBot. It has now gone through 3 major revisions as it has traveled the world playing concerts. At one time, Like MahaDeviBot, GanaPatiBot features three frame drums and an assortment of other percussive noisemaking devices. Each of GanaPatiBot’s frame drums can be struck with two solenoids for the possibility of inhumanly fast drum rolls. These solenoids are mounted on bendable gooseneck assemblies, designed to be positioned in various configurations around the drumhead for timbral flexibility. Additionally, GPB has a 6-in. metal gong, three rotary solenoids which click against the bot’s frame, a shaker, and a metal rattle. Unlike MahaDeviBot, GanaPatiBot’s actuators and instruments are oriented toward the audience for maximum visual effect. In performances, both MahaDeviBot and GanaPatiBot are suspended from the ceiling and hover approximately 6 feet off the ground.

Michael Darling & Ajay Kapur

2009

Slide 1

Slide 1

Raina is a kinetic rainstick constructed from a six-foot-long segment of modified polyvinyl chloride pipe. The pipe has been bisected and filled with more than 50 helically arranged wooden rods that are struck by pebbles, lentil beans, and BB-gun pellets. The pipe is attached via a chain drive to a large alternating current motor operating at a fraction of its rated voltage. The underpowered motor turns slowly, gently spinning the pipe on a ball-bearing axle. Immediately preceding concerts, Raina is activated, providing a subtle noisescape underlying each composition.

Michael Darling

Mentor: Trimpin

2009

Slide 1

MahaDeviBot serves as a model and as a proof-of-concept robot for various methods of solenoid-based electromechanical percussion techniques. MahaDeviBot has an assortment of twelve traditional Indian percussion instruments, including four frame drums, finger cymbals, a gong, several sets of bells, and wood blocks. MahaDeviBot also features a bouncing anthropomorphic head attached to a spring-loaded solenoid to convey tempo.

Ajay Kapur

Mentors: Trimpin , Eric Singer

2006

Slide 1

 

Slide 1