David Grunberg

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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. A small robot, the Hitec RoboNova, was initially used to(More)
Programming a humanoid robot to dance to live music is a complex task requiring contributions from multiple disciplines. A vocabulary of intricate limb motions must be designed to be stable and stylistically consistent. To produce coordinate these movements with music, the robot must be able to detect the appropriate beats within audio. One approach is a(More)
We have developed an autonomously dancing humanoid, based on the Hitec Robonova platform, that is able to perform sequences of smooth movements in synchrony with music. Our system automatically determines the locations of beats from the acoustic signal of music in real-time, and this information is used to coordinate the motions of the robot, enabling it to(More)
— For many people, playing and enjoying music are integral activities in their daily lives, and the development of musically-aware robot systems provides a unique opportunity for richer forms of human-robot interaction. A robot participating in an ensemble musical performance requires a wide variety of skills in order to perform alongside humans. For(More)
A robot with the ability to dance autonomously has many potential applications, such as serving as a prototype dancer for choreographers or as a participant in stage performances with human dancers. A robot that dances autonomously must be able to extract several features from audio in real time, including tempo, beat, and style. It must also be able to(More)
M odern-day museums often provide visitors with an automated , handheld personal tour guide, usually in the form of an audio recording that includes facts about individual exhibits. This helps museum visitors better understand and appreciate what they are viewing and lets exhibit curators communicate with audiences on a personal level. Similarly, some(More)
In pursuit of our long-term goal of developing an interactive humanoid musician, we are developing robust methods to determine musical beat locations from live acoustic sources. A variety of beat tracking systems have been previously developed, but for the most part they are optimized for direct audio input (no acoustic channel and no noise). The presence(More)
As research in biped gait, human interaction, and social robotics expands, hardware to explore these fields is becoming valuable. The high cost and risk of full-sized humanoid robots prevents many small laboratories for exploring these areas, however. In recent years, many models of miniature humanoid robot have been introduced to the pro-sumer market.(More)
Music is an integral part of high school students' daily lives, and most use digital music devices and services. The one-week Summer Music Technology (SMT) program at Drexel University introduces underclassmen high school students to music technology to reveal the influence and importance of engineering, science, and mathematics. By engaging participants'(More)
—We are seeking to enable humanoid robots to participate in live human-robot musical ensembles. In ensembles, the musicians must be able to listen to the audio that they and the others are producing in order to identify high-level features of the music (e.g., location in the score, tempo, cues). This information is crucial for the musicians so that they can(More)