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The paper presents the theoretical background and the design scheme for a perceptual and improvisational robotic marimba player that interacts with human musicians in a visual and acoustic manner. Informed by an evaluation of a previously developed robotic percussionist, we present the extension of our work to melodic and harmonic realms with the design of a robotic player that listens to, analyzes and improvises pitch-based musical materials. After a presentation of the motivation for thedoi:10.1145/1279740.1279786 dblp:conf/nime/WeinbergD07 fatcat:s55njjxsnnc2vm3y76mwkklnb4