@article {tomo_wayang_2017,
	title = {Wayang Robot with Gamelan Music Pattern Recognition},
	journal = {Journal of Robotics and Mechatronics},
	volume = {29},
	number = {1},
	year = {2017},
	note = {Publisher: Fuji Technology Press},
	month = {feb},
	pages = {137{\textendash}145},
	abstract = {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-offreedom (DOF) manipulator to actuate the sticks attached to the wayang puppet body and hands. The robot can imitate 8 distinct human puppeteer{\textquoteright}smanipulations. 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 SVMclassifier outperformed the FNN classifier with a recognition rate of 96.4\%for identifying the three different gamelan music patterns.},
	keywords = {Extracted energies, Intangible cultural heritages, Intangible culture, Intelligent machine, Learning systems, Machine learning, mel-frequency cepstral coefficients, Multi-class support vector machines, Music information retrieval, Pattern recognition, Puppet theaters, Robots, Speech recognition, Support vector machines, Wayang kulit},
	issn = {09153942 (ISSN)},
	doi = {10.20965/jrm.2017.p0137},
	url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-85013880391\&doi=10.20965\%2fjrm.2017.p0137\&partnerID=40\&md5=4ca47c7a752abe03a80b8599ff3bc2c2},
	author = {Tomo, Tito Pradhono and Schmitz, Alexander and Enriquez, Guillermo and Hashimoto, Shuji and Sugano, Shigeki}
}
