Combined perception and control for timing in robotic music performances

  title={Combined perception and control for timing in robotic music performances},
  author={Umut Simsekli and Orhan Sonmez and Baris Kurt and Ali Taylan Cemgil},
  journal={EURASIP J. Audio, Speech and Music Processing},
Interaction with human musicians is a challenging task for robots as it involves online perception and precise synchronization. In this paper, we present a consistent and theoretically sound framework for combining perception and control for accurate musical timing. For the perception, we develop a hierarchical hidden Markov model that combines event detection and tempo tracking. The robot performance is formulated as a linear quadratic control problem that is able to generate a surprisingly… CONTINUE READING


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