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Synchronization of Humanoid Robot Movement with Music Project

Explore trajectory generation, sound integration, collision detection, tempo extraction, and synchronization with music in a humanoid robot. Utilize CPG, Webots, Aubio Library, ODE Physic Plugin, and Matlab simulation for real-time coordination.

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Synchronization of Humanoid Robot Movement with Music Project

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  1. Synchronization of movementsof a real humanoid robot with music Amstutz Patrick BIRG, EPFL

  2. Goals of the project • Study trajectories generation system • Find an approach for adding sound capabilities for Webots videos • Implement collision detection for visual feedback of drumming task • Synchronize the robot with music: investigate possible solutions for extracting tempo information from music

  3. System overview (1)

  4. System overview (2)

  5. Mathematical Aspect of CPGi Discrete Part: Rhythmic Part:

  6. Matlab Simulation

  7. Processschema

  8. Tempo detection • Matthew, Davies and Plumbley • Aubio Library

  9. Webots • http://www.cyberbotics.com • Professional mobile robot simulation

  10. Collision detection • ODE Physic Plugin • http://www.ode.org • Message to supervisor • Texture change • Sound info file

  11. Matlab Music Generation • Generation function: • generation(left, right, sound1, sound2, sound3) • Parameters: • Two matrices of simulation information • Three sounds corresponding to each instrument • Output: • Wav file

  12. Merging Video and Sound • VirtualDub • Xvid • Mp3 • Script Generation • Output avi files

  13. References

  14. Thank you • Sarah Degallier, for your help • Yvan Bourquin, for Webots help • Alessandro Crespi, for VirtualDub help • Pr. Auke Ijspeert for allowing me to perfom this project at BIRG

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