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An active audition framework for auditory-driven HRI: Application to interactive robot dancing

Joao Lobato Oliveira, Gokhan Ince, Keisuke Nakamura, Kazuhiro Nakadai, Hiroshi G. Okuno, Luis Paulo Reis, Fabien Gouyon
2012 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication  
The experimental tests revealed accurate and robust beat tracking and speech recognition, and convincing dance beat-synchrony.  ...  This system integrates three preprocessing robot audition modules: sound source localization, sound source separation, and ego noise suppression; two modules for auditory perception: live audio beat tracking  ...  Experimental tests on the system revealed accurate beat-synchrony of the generated robot dance motions and improved beat tracking and ASR accuracies.  ... 
doi:10.1109/roman.2012.6343892 dblp:conf/ro-man/OliveiraINNORG12 fatcat:a24ibffx5zgavdl57lprs25lb4

Dance Motion Control of a Humanoid Robot Based on Real-Time Tempo Tracking from Musical Audio Signals [chapter]

Naoto Nakahara, Koji Miyazaki, Hajime Sakamoto, Takashi X. Fujisawa, Noriko Nagata, Ryohei Nakatsu
2009 Lecture Notes in Computer Science  
We propose a method to synchronize dance motion of robot with musical beat, changing the robot's dance motion interactively according to the input value.  ...  The system tracks changes in tempo and calculate the integration value of a decibel by analyzing audio signals in real-time. It uses the information to add changes to the robot's dance motion.  ...  By using this algorithm, the system can interactively change the dance motion of robot according to the input and reduce the monotony of generated motions.  ... 
doi:10.1007/978-3-642-04052-8_4 fatcat:hrnvsjxuovcqbmhm7gizneyp4m

Live assessment of beat tracking for robot audition

Joao Lobato Oliveira, Gokhan Ince, Keisuke Nakamura, Kazuhiro Nakadai, Hiroshi G. Okuno, Luis Paulo Reis, Fabien Gouyon
2012 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this paper we propose the integration of an online audio beat tracking system into the general framework of robot audition, to enable its application in musically-interactive robotic scenarios.  ...  To this purpose, we introduced a staterecovery mechanism into our beat tracking algorithm, for handling continuous musical stimuli, and applied different multi-channel preprocessing algorithms (e.g., beamforming  ...  • Experiment3: live audio beat tracking during robot dancing motion. • Experiment4: simultaneous live audio beat tracking and automatic speech recognition during robot dancing motion.  ... 
doi:10.1109/iros.2012.6386100 dblp:conf/iros/OliveiraINNORG12 fatcat:k7bfvqen6jepdgajzytrlsdasm

Enabling humanoid musical interaction and performance

Youngmoo E. Kim, David K. Grunberg, Alyssa M. Batula, Daniel M. Lofaro, JunHo Oh, Paul Y. Oh
2011 2011 International Conference on Collaboration Technologies and Systems (CTS)  
In order to dance or play an instrument, for example, a robot be able to utilize substantial auditory and visual information.  ...  Many people incorporate music into their daily lives, and the development of robots with musical awareness provides an opportunity for rich forms of human-robot interaction.  ...  RELATED WORK One existing area of research is developing beat-sensitive robots for human interaction. One such robot, Keepon, is a small cartoon-like robot designed for studying [1] .  ... 
doi:10.1109/cts.2011.5928689 dblp:conf/cts/KimGBLOO11 fatcat:4gmrrebxrrcbdhy4ec64wmfnsu

Audio-visual beat tracking based on a state-space model for a music robot dancing with humans

Misato Ohkita, Yoshiaki Bando, Yukara Ikemiya, Katsutoshi Itoyama, Kazuyoshi Yoshii
2015 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
This paper presents an audio-visual beat-tracking method for an entertainment robot that can dance in synchronization with music and human dancers.  ...  Conventional music robots have focused on either music audio signals or dancing movements of humans for detecting and predicting beat times in real time.  ...  Beat tracking for dancing movements Several studies have been conducted for analyzing rhythmic information of dancing movements. Guedes et al.  ... 
doi:10.1109/iros.2015.7354164 dblp:conf/iros/OhkitaBIIY15 fatcat:xmua2g5i5jfqlfz7kdpnnys4xu

Using miniature humanoids as surrogate research platforms

Robert Ellenberg, David Grunberg, Paul Y. Oh, Youngmoo Kim
2009 2009 9th IEEE-RAS International Conference on Humanoid Robots  
As research in biped gait, human interaction, and social robotics expands, hardware to explore these fields is becoming valuable .  ...  The objective of the authors' research is to implement a miniature humanoid robot as a surrogate for larger humanoid robotics.  ...  In [4] the Robonova was taught to recognize beats and execute dance moves. In [5] human-robot-interaction algorithms were ported to the Robonova.  ... 
doi:10.1109/ichr.2009.5379582 dblp:conf/humanoids/EllenbergGOK09 fatcat:4axtf3dlyvb2riad2yqypumsqm

A robot uses its own microphone to synchronize its steps to musical beats while scatting and singing

K. Murata, K. Nakadai, K. Yoshii, R. Takeda, T. Torii, H.G. Okuno, Y. Hasegawa, H. Tsujino
2008 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems  
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,  ...  ACKNOWLEDGMENTS This research was partially supported by JSPS, Grant-in-Aid for Young Scientists (B) 19700158.  ... 
doi:10.1109/iros.2008.4650596 dblp:conf/iros/MurataNYTTOHT08 fatcat:oyv7jok4nrgvbmtz7uvdq3uh3q

Robotic Dance in Social Robotics—A Taxonomy

Hua Peng, Changle Zhou, Huosheng Hu, Fei Chao, Jing Li
2015 IEEE Transactions on Human-Machine Systems  
Robotic dance is classified into four categories: cooperative human-robot dance, imitation of human dance motions, synchronization for music, and creation of robotic choreography.  ...  Robotic dance is an important topic in the field of social robotics. Its research has a vital significance to both humans and robotics.  ...  In [53] , a new beat-tracking method was proposed to acquire beat and tempo from music audio signals, and the timing of beats was used to synchronize robotic dance motions with it.  ... 
doi:10.1109/thms.2015.2393558 fatcat:zv5yzzr275b4fld2qmxbm6zrrq

Online audio beat tracking for a dancing robot in the presence of ego-motion noise in a real environment

Joao Lobato Oliveira, Gokhan Ince, Keisuke Nakamura, Kazuhiro Nakadai
2012 2012 IEEE International Conference on Robotics and Automation  
This paper presents the design and implementation of a real-time real-world beat tracking system which runs on a dancing robot.  ...  The main problem of such a robot is that, while it is moving, ego noise is generated due to its motors, and this directly degrades the quality of the audio signal features used for beat tracking.  ...  In this paper we address the problem of online audio beat tracking for a dancing robot with embedded microphones in the presence of ego noise, by integrating an online templatebased ego noise suppression  ... 
doi:10.1109/icra.2012.6224998 dblp:conf/icra/OliveiraINN12 fatcat:puwtwkrftbdanps7r4fzxz5v6y

Convolutional Neural Networks For Real-Time Beat Tracking: A Dancing Robot Application

Aggelos Gkiokas, Vassilios Katsouros
2017 Zenodo  
THE DANCING ROBOT APPLICATION The NAO Robot For deploying the real-time beat tracking method to a dancing robot, a NAO Robot v4 was used as the target hardware.  ...  Dancing robots [26] have gained some interest in both robotics and MIR scientific communities and is an essential application for human-robot interaction and entertainment [27] .  ... 
doi:10.5281/zenodo.1417736 fatcat:f2cqtllbgzhhxnkfzcw5lp6v2m

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
2007 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems  
To solve this problem, we implemented a beat-tracking method developed in the field of music information processing.  ...  This is an important factor for seamlessly introducing robots into our daily-life environments.  ...  Despite the flexibility of motion generation, a problem is that these robots cannot autonomously determine the appropriate timing of dancing movements while interacting with auditory environments, i.e.  ... 
doi:10.1109/iros.2007.4399244 dblp:conf/iros/YoshiiNTHTKOO07 fatcat:7wvksacui5exvckyfqatzzgcnq

From RoboNova to HUBO: Platforms for Robot Dance [chapter]

David Grunberg, Robert Ellenberg, Youngmoo E. Kim, Paul Y. Oh
2009 Communications in Computer and Information Science  
A robot with the ability to dance in response to music could lead to novel and interesting interactions with humans.  ...  For example, such a robot could be used to augment live performances alongside human dancers. This paper describes a system enabling humanoid robots to move in synchrony with music.  ...  This work offers evidence that human-dancing robot interactions can be constructive and influential.  ... 
doi:10.1007/978-3-642-03986-7_3 fatcat:b4qm3kzi5zbrzpcphtp4lnkixa

A robot listens to music and counts its beats aloud by separating music from counting voice

T. Mizumoto, R. Takeda, K. Yoshii, K. Komatani, T. Ogata, H.G. Okuno
2008 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems  
So we designed the architecture for music-understanding robot that is capable of dealing with the issue of self-generated sounds.  ...  Music-understanding robots that interact with humans should be able not only to recognize music internally, but also to express their own internal states.  ...  Music understanding robot may open new possible interactions with people by, for example, dancing, playing the instruments, or singing together.  ... 
doi:10.1109/iros.2008.4650821 dblp:conf/iros/MizumotoTYKOO08 fatcat:jzoi4zdmznh2him5vnulahmgbq

Overcoming Motor-Rate Limitations in Online Synchronized Robot Dancing

Catarina B. Santiago, Joao L. Oliveira, Luis P. Reis, Armando Sousa, Fabien Gouyon
2012 International Journal of Computational Intelligence Systems  
The comparison against robot dance sequences generated without inter-changing the attended metrical-level validated our sensorimotor approach for controlling beat-synchronous robot dancing motions using  ...  We propose an online sensorimotor architecture for controlling a low-cost humanoid robot to perform dance movements synchronized with musical stimuli.  ...  , for tracking the beat of online musical stimuli, and ii) a Robot Dancing Control interface, for controlling the robot motion in beat-synchrony to the analyzed music.  ... 
doi:10.1080/18756891.2012.718120 fatcat:dx7wkyboq5gehgog3sugp6a5nm

Effects of robotic companionship on music enjoyment and agent perception

Guy Hoffman, Keinan Vanunu
2013 2013 8th ACM/IEEE International Conference on Human-Robot Interaction (HRI)  
The robot generates smoothed real-time beat-synchronized dance moves, uses nonverbal gestures for common ground, and can make and maintain eye-contact.  ...  We present a robotic speaker device designed for joint listening and embodied performance of the music played on it.  ...  Several previous works have dealt with rhythmic humanrobot interaction (HRI), as well as with dancing robots.  ... 
doi:10.1109/hri.2013.6483605 fatcat:ofoeddeanbc4vdaroiphddvo7e
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