A robot uses its own microphone to synchronize its steps to musical beats while scatting and singing

Kazumasa Murata, Kazuhiro Nakadai, Kazuyoshi Yoshii, Ryu Takeda, Toyotaka Torii, Hiroshi G. Okuno, Yuji Hasegawa, Hiroshi Tsujino

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

25 Citations (Scopus)

Abstract

Musical beat tracking is one of the effective technologies for human-robot interaction such as musical sessions. Since such interaction should be performed in various environments in a natural way, musical beat tracking for a robot should cope with noise sources such as environmental noise, its own motor noises, and self voices, by using its own microphone. This paper addresses a musical beat tracking robot which can step, scat and sing according to musical beats by using its own microphone. To realize such a robot, we propose a robust beat tracking method by introducing two key techniques, that is, spectro-temporal pattern matching and echo cancellation. The former realizes robust tempo estimation with a shorter window length, thus, it can quickly adapt to tempo changes. The latter is effective to cancel self noises such as stepping, scatting, and singing. We implemented the proposed beat tracking method for Honda ASIMO. Experimental results showed ten times faster adaptation to tempo changes and high robustness in beat tracking for stepping, scatting and singing noises. We also demonstrated the robot times its steps while scatting or singing to musical beats.

Original languageEnglish
Title of host publication2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages2459-2464
Number of pages6
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice
Duration: 2008 Sep 222008 Sep 26

Other

Other2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
CityNice
Period08/9/2208/9/26

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Murata, K., Nakadai, K., Yoshii, K., Takeda, R., Torii, T., Okuno, H. G., Hasegawa, Y., & Tsujino, H. (2008). A robot uses its own microphone to synchronize its steps to musical beats while scatting and singing. In 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 2459-2464). [4650596] https://doi.org/10.1109/IROS.2008.4650596