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)
— 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)
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)
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)
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)
— 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)
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)