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

研究成果: Conference contribution

25 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
ページ2459-2464
ページ数6
DOI
出版ステータスPublished - 2008
外部発表はい
イベント2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS - Nice
継続期間: 2008 9 222008 9 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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