NDLI: Development of a real-time instrument tracking system for enabling the musical interaction with the Waseda Flutist Robot

Content Provider	IEEE Xplore Digital Library
Author	Petersen, K. Solis, J. Takanishi, A.
Copyright Year	2008
Description	Author affiliation: Grad. Sch. of Adv. Sci. & Eng., Waseda Univ., Tokyo (Petersen, K.)
Abstract	The aim of this paper is to create an interface for human-robot interaction. Specifically, musical performance parameters (i.e. vibrato expression) of the Waseda Flutist Robot No.4 Refined IV (WF-4RIV) are to be manipulated. Our research is focused on enabling the WF-4RIV to interact with human players (musicians) in a natural way. In this paper, as a first approach, a vision processing algorithm, that is able to track the 3D-orientation and position of a musical instrument, was developed. In particular, the robot acquires image data through two cameras attached to its head. Using color histogram matching and a particle filter, the position of the musicianpsilas hands on the instrument are tracked. Analysis of this data determines orientation and location of the instrument. These parameters are mapped to manipulate the musical expression of the WF-4RIV, more specifically sound vibrato and volume values. We present preliminary experiments to determine if the robot may dynamically change musical parameters while interacting with a human player (i.e. vibrato etc.). From the experimental results, we may confirm the feasibility of the interaction during a performance, although further research must be carried out to consider the physical constraints of the flutist robot.
Starting Page	313
Ending Page	318
File Size	359058
Page Count	6
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4650831
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Instruments Cameras Humans Image color analysis Robot vision systems Robot sensing systems
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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