Natural human-robot musical interaction: Understanding the music conductor gestures by using the WB-4 inertial measurement system

Sarah Cosentino, Klaus Petersen, Zhuohua Lin, Luca Bartolomeo, Salvatore Sessa, Massimiliano Zecca, Atsuo Takanishi

Research output: Contribution to journalArticle

8 Citations (Scopus)


This paper presents an inertial measurement unit-based human gesture recognition system for a robot instrument player to understand the instructions dictated by an orchestra conductor and accordingly adapt its musical performance. It is an extension of our previous publications on natural human-robot musical interaction. With this system, the robot can understand the real-time variations in musical parameters dictated by the conductor’s movements, adding expression to its performance while being synchronized with all the other human partner musicians. The enhanced interaction ability would obviously lead to an improvement of the overall live performance, but also allow the partner musicians, as well as the conductor, to better appreciate a joint musical performance, thanks to the complete naturalness of the interaction.

Original languageEnglish
Pages (from-to)781-792
Number of pages12
JournalAdvanced Robotics
Issue number11
Publication statusPublished - 2014 Feb 25



  • Human-robot interaction
  • Humanoid robot
  • Inertial measurement unit
  • Musical robot

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications

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