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IBM Systems Journal
Composing Interactive Music: Techniques and Ideas Using Max
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Artificial Perception and Music Recognition
Artificial Perception and Music Recognition
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NIME '02 Proceedings of the 2002 conference on New interfaces for musical expression
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NIME '03 Proceedings of the 2003 conference on New interfaces for musical expression
LEMUR GuitarBot: MIDI robotic string instrument
NIME '03 Proceedings of the 2003 conference on New interfaces for musical expression
NIME '04 Proceedings of the 2004 conference on New interfaces for musical expression
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NIME '05 Proceedings of the 2005 conference on New interfaces for musical expression
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Computer Music Journal
Jam'aa for Haile: Copyright restrictions prevent ACM from providing the full text for this work.
ACM SIGGRAPH 2006 Art gallery
A leader-follower turn-taking model incorporating beat detection in musical human-robot interaction
Proceedings of the 4th ACM/IEEE international conference on Human robot interaction
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Proceedings of the 2009 International Conference on Hybrid Information Technology
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
IEA/AIE'10 Proceedings of the 23rd international conference on Industrial engineering and other applications of applied intelligent systems - Volume Part I
Design and evaluation of human-computer rhythmic interaction in a tutoring system
Computer Music Journal
Tabletop Ensemble: touch-enabled virtual percussion instruments
I3D '12 Proceedings of the ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games
Performing with a system's intention: embodied cues in performer-system interaction
Proceedings of the 9th ACM Conference on Creativity & Cognition
KASPAR --a minimally expressive humanoid robot for human--robot interaction research
Applied Bionics and Biomechanics
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We present new developments in the improvisational robotic percussionist project, aimed at improving human-robot interaction through design, mechanics, and perceptual modeling. Our robot, named Haile, listens to live human players, analyzes perceptual aspects in their playing in real-time, and uses the product of this analysis to play along in a collaborative and improvisatory manner. It is designed to combine the benefits of computational power in algorithmic music with the expression and visual interactivity of acoustic playing. Haile's new features include an anthropomorphic form, a linear-motor based robotic arm, a novel perceptual modeling implementation, and a number of new interaction schemes. The paper begins with an overview of related work and a presentation of goals and challenges based on Haile's original design. We then describe new developments in physical design, mechanics, perceptual implementation, and interaction design, aimed at improving human-robot interactions with Haile. The paper concludes with a description of a user study, conducted in an effort to evaluate the new functionalities and their effectiveness in facilitating expressive musical human-robot interaction. The results of the study show correlation between human's and Haile's rhythmic perception as well as user satisfaction regarding Haile's perceptual and mechanical abilties. The study also indicates areas for improvement such as the need for better timbre and loudness control and more advance and responsive interaction schemes.