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Synchronization of movements of a real humanoid robot with music

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

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Synchronization of movements of a real humanoid robot with music

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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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