A Biped Robot that Keeps Steps in Time with Musical Beats
- Our robot can enjoy music using its own ears -
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.
Kazuyoshi Yoshii, Kazuhiro Nakadai,
Toyotaka Torii, Yuji Hasegawa, Hiroshi Tsujino,
Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno:
"A Biped Robot that Keeps Steps in Time with Musical Beats
while Listening to Music with Its Own Ears,"
In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2007),
This research was cooperated with Honda Research Institute Japan.
The used musical pieces were selected from
RWC Music Database.
Author : Kazuyoshi Yoshii (AIST)
mail to k.yoshii(at)aist.go.jp