David Grunberg

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— 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)
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)
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)
— The recognition of emotions and the generation of appropriate responses is a key component for facilitating more natural human-robot interaction. Music, often called the " language of emotions, " is a particularly useful medium for investigating questions involving the expression of emotion. Likewise, movements and gestures, such as dance, can also(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)
— Humans can often learn high-level features of a piece of music, such as beats, from only a few seconds of audio. If robots could obtain this information just as rapidly, they would be more capable of musical interaction without needing long lead times to learn the music. The presence of robot ego noise, however, makes accurately analyzing music more(More)
Many people incorporate music into their daily lives, and the development of robots with musical awareness provides an opportunity for rich forms of human-robot interaction. Robots must, however, acquire a variety of skills before being able to participate in musical activities. In order to dance or play an instrument, for example, a robot be able to(More)
In the field of Music-Information Retrieval (Music-IR), algorithms are used to analyze musical signals and estimate high-level features such as tempi and beat locations. These features can then be used in tasks to enhance the experience of listening to music. Most conventional Music-IR algorithms are trained and evaluated on audio that is taken directly(More)
We present a system that determines whether an adult-sized humanoid has correctly played a pitched percussive instrument in real time. Human musicians utilize sensory feedback to determine if they are playing their instruments correctly and robot performers should be capable of the same feat. We present a classification algorithm that uses auditory and(More)
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