Autonomous robot dancing synchronized to musical rhythmic stimuli

摘要

This paper presents a system that is able to control in
\nreal time a humanoid robot to perform dance movements to the
\nrhythm of a music. The movements' coordination is performed
\nwith the aid of a music analyzer that estimates the beat of the
\nmusic and calculates a prediction of the next inter-beat-interval
\n(IBI). During the robot dancing performance, a dance movement
\nis chosen from a pre-defined dance library and is executed onthe-
\nfly by the robot. The movements' velocity, as well as the
\nattended metrical-level, are adjusted in real time so that the
\nmovement can be executed within the time interval of two beats,
\nand at the same time taking into consideration the robot motorrates
\nlimitations. Results evince a good synchrony of the
\nmovement towards the analyzed rhythm, but points to the need
\nof a careful design of the dance movements so they can be
\nnaturally executed on time.