A biped robot that keeps steps in time with musical beats while listening to music with its own ears
A biped robot that keeps steps in time with musical beats while listening to music with its own ears
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DOI：
10.1109/iros.2007.4399244
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发表时间：
2007-12
期刊：
影响因子：
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通讯作者：
Kazuyoshi Yoshii;K. Nakadai;Toyotaka Torii;Yuji Hasegawa;H. Tsujino;Kazunori Komatani;T. Ogata;HIroshi G. Okuno
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文献类型：
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作者：
Kazuyoshi Yoshii;K. Nakadai;Toyotaka Torii;Yuji Hasegawa;H. Tsujino;Kazunori Komatani;T. Ogata;HIroshi G. Okuno
我们的目标是使机器人能够在日常生活环境中通过真实世界的音乐与人类互动，例如，自主地保持其步伐（邮票）与音乐节拍的时间。为了实现这一点，机器人应该能够鲁棒地预测节拍时间在真实的时间，同时用自己的耳朵听音乐表演（头部嵌入式麦克风）。然而，由于难以预测现实世界音乐中的节拍时间，这在大多数关于音乐同步机器人的研究中还没有得到解决。为了解决这个问题，我们实现了在音乐信息处理领域开发的节拍跟踪方法。然后，通过反馈控制方法使用预测的节拍时间，该方法调整机器人的步骤间隔，以使其步骤与节拍同步。实验结果表明，机器人能够随着克里思的变化及时调整步伐。由此产生的机器人需要大约25 [s]来识别它之后的克里思变化，然后同步它的步伐。
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.