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Our goal is to develop a coplayer music robot capable of presenting a musical expression together with humans. Although many instrument-performing robots exist, they may have difficulty playing with human performers due to the lack of the synchronization function. The robot has to follow differences in humans' performance such as temporal fluctuations to(More)
A method has been developed for improving sound source localization (SSL) using a microphone array from an unmanned aerial vehicle with multiple rotors, a “multirotor UAV”. One of the main problems in SSL from a multirotor UAV is that the ego noise of the rotors on the UAV interferes with the audio observation and degrades the SSL performance.(More)
Multichannel signal processing using a microphone array provides fundamental functions for coping with multisource situations, such as sound source localization and separation, that are needed to extract the auditory information for each source. Auditory uncertainties about the degree of reverberation and the number of sources are known to degrade(More)
This letter reports synchronization phenomena and mathematical modeling on a frustrated system of living beings, or Japanese tree frogs (Hyla japonica). While an isolated male Japanese tree frog calls nearly periodically, he can hear sounds including calls of other males. Therefore, the spontaneous calling behavior of interacting males can be understood as(More)
Musicians often have the following problem: they have a music score that requires 2 or more players, but they have no one with whom to practice. So far, score-playing music robots exist, but they lack adaptive abilities to synchronize with fellow players' tempo variations. In other words, if the human speeds up their play, the robot should also increase its(More)
This paper presents a novel synchronizing method for a human-robot ensemble using coupled oscillators. We define an ensemble as a synchronized performance produced through interactions between independent players. To attain better synchronized performance, the robot should predict the human's behavior to reduce the difference between the human's and robot's(More)
This paper reports theoretical and experimental studies on spatio-temporal dynamics in the choruses of male Japanese tree frogs. First, we theoretically model their calling times and positions as a system of coupled mobile oscillators. Numerical simulation of the model as well as calculation of the order parameters show that the spatio-temporal dynamics(More)
— A novel human-robot trio-ensemble system with a human flutist, a human drummer and a robot-thereminist is presented. The participants of the ensemble play music in a score-based way and simultaneously, which has only been achieved independently. In our ensemble, both auditory and visual cues are used to synchronize the participants' performances. The(More)
We aim at developing a singer robot capable of listening to music with its own “ears” and interacting with a human's musical performance. Such a singer robot requires at least three functions: listening to the music, understanding what position in the music is being performed, and generating a singing voice. In this paper, we focus on the(More)
This paper presents an audio-visual beat-tracking method for ensemble robots with a human guitarist. Beat-tracking, or estimation of tempo and beat times of music, is critical to the high quality of musical ensemble performance. Since a human plays the guitar in out-beat in back beat and syncopation, the main problems of beat-tracking of a human's guitar(More)