A biped robot that keeps steps in time with musical beats while listening to music with its own ears

Kazuyoshi Yoshii, Kazuhiro Nakadai, Toyotaka Torii, Yuji Hasegawa, Hiroshi Tsujino, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno

Research output: Chapter in Book/Report/Conference proceedingConference contribution

34 Citations (Scopus)

Abstract

We aim at enabling a biped robot to interact with humans through real-world music in daily-life environments, e.g., to autonomously keep its steps (stamps) in time with musical beats. To achieve this, the robot should be able to robustly predict the beat times in real time while listening to musical performance with its own ears (head-embedded microphones). However, this has not previously been addressed in most studies on music-synchronized robots due to the difficulty in predicting the beat times in real-world music. To solve this problem, we implemented a beat-tracking method developed in the field of music information processing. The predicted beat times are then used by a feedback-control method that adjusts the robot's step intervals to synchronize its steps in time with the beats. The experimental results show that the robot can adjust its steps in time with the beat times as the tempo changes. The resulting robot needed about 25 [s] to recognize the tempo change after it and then synchronize its steps.

Original languageEnglish
Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages1743-1750
Number of pages8
DOIs
Publication statusPublished - 2007 Dec 1
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: 2007 Oct 292007 Nov 2

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Conference

Conference2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
CountryUnited States
CitySan Diego, CA
Period07/10/2907/11/2

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Yoshii, K., Nakadai, K., Torii, T., Hasegawa, Y., Tsujino, H., Komatani, K., Ogata, T., & Okuno, H. G. (2007). A biped robot that keeps steps in time with musical beats while listening to music with its own ears. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 (pp. 1743-1750). [4399244] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2007.4399244