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

doi:10.1109/IROS.2007.4399244

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

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

36 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages	1743-1750
Number of pages	8
DOIs	https://doi.org/10.1109/IROS.2007.4399244
Publication status	Published - 2007
Externally published	Yes
Event	2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States Duration: 2007 Oct 29 → 2007 Nov 2

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Conference

Conference	2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Country/Territory	United States
City	San Diego, CA
Period	07/10/29 → 07/11/2

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2007.4399244

Cite this

Yoshii, K., Nakadai, K., Torii, T., Hasegawa, Y., Tsujino, H., Komatani, K., Ogata, T., & Okuno, H. G. (2007). A biped robot that keeps steps in time with musical beats while listening to music with its own ears. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 (pp. 1743-1750). Article 4399244 (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2007.4399244

A biped robot that keeps steps in time with musical beats while listening to music with its own ears. / Yoshii, Kazuyoshi; Nakadai, Kazuhiro; Torii, Toyotaka et al.
Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007. 2007. p. 1743-1750 4399244 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Yoshii, K, Nakadai, K, Torii, T, Hasegawa, Y, Tsujino, H, Komatani, K, Ogata, T & Okuno, HG 2007, A biped robot that keeps steps in time with musical beats while listening to music with its own ears. in Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007., 4399244, IEEE International Conference on Intelligent Robots and Systems, pp. 1743-1750, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007, San Diego, CA, United States, 07/10/29. https://doi.org/10.1109/IROS.2007.4399244

Yoshii K, Nakadai K, Torii T, Hasegawa Y, Tsujino H, Komatani K et al. A biped robot that keeps steps in time with musical beats while listening to music with its own ears. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007. 2007. p. 1743-1750. 4399244. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2007.4399244

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abstract = "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.",

author = "Kazuyoshi Yoshii and Kazuhiro Nakadai and Toyotaka Torii and Yuji Hasegawa and Hiroshi Tsujino and Kazunori Komatani and Tetsuya Ogata and Okuno, {Hiroshi G.}",

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AU - Tsujino, Hiroshi

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AB - 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.

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A biped robot that keeps steps in time with musical beats while listening to music with its own ears

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