Music-Ensemble Robot That Is Capable of Playing the Theremin While Listening to the Accompanied Music
نویسندگان
چکیده
Our goal is to achieve a musical ensemble among a robot and human musicians where the robot listens to the music with its own microphones. The main issues are (1) robust beat-tracking since the robot hears its own generated sounds in addition to the accompanied music, and (2) robust synchronizing its performance with the accompanied music even if humans’ musical performance fluctuates. This paper presents a music-ensemble Thereminist robot implemented on the humanoid HRP2 with the following three functions: (1) self-generated Theremin sound suppression by semi-blind Independent Component Analysis, (2) beat tracking robust against tempo fluctuation in humans’ performance, and (3) feedforward control of Theremin pitch. Experimental results with a human drummer show the capability of this robot for the adaptation to the temporal fluctuation in his performance.
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