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

*この研究の対応する著者

研究成果: Conference contribution

34 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
ページ1743-1750
ページ数8
DOI
出版ステータスPublished - 2007
外部発表はい
イベント2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
継続期間: 2007 10 292007 11 2

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems

Conference

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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