Nowadays　the　field　of　combining　robots　with　music　has　received　great　attention.　However,　the　current　work　often　focuses　on　how　to　control　the　mechanical　performance　of　music　with　established　rules.　We　hope　that　the　robot　can　play　a　musical　instrument　without　being　so　monotonous　and　can　have　playing　skills　other　than　regularity　as　a　human　being.　We　designed　an　anthropomorphic　robotic　ocarina　playing　system.　The　movements　and　corresponding　action　parameters　when　the　dexterous　hand　is　playing　are　designed　so　that　the　system　can　read　the　digital　score　and　automatically　play　according　to　the　score.　Through　our　pitch　and　intensity　analysis　algorithm,　the　audio　is　parsed　into　the　pitch　sequence　and　intensity　sequence　required　for　ocarina　performance,　and　the　dexterous　hand　can　play　the　ocarina　through　these　two　sequences　so　that　the　ocarina　can　be　imitated　by　only　listening　to　the　audio.　Furthermore,　a　granularity　method　is　proposed　to　evaluate　the　similarity　of　performances.　©　2023,　The　Author(s),　under　exclusive　license　to　Springer　Nature　Singapore　Pte　Ltd.