rhythmic synchronization of dancing robots nick wong dr. rafael fierro 1 "this material is...
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Rhythmic Synchronization ofDancing Robots
Nick WongDr. Rafael Fierro
1"This material is based upon work supported by the National Science Foundation under Grant No. IIS/REU/0755462.“"Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the National Science Foundation."
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The goal
Generate spontaneous and socially engaging robotic dancing by accurately synchronizing the motion of a two-wheeled robot(s) to external audio and visual rhythms
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Dancing robots?
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Choreographed
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Non-choreographed
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So you think you can dance?
1. Sense of rhythm• Auditory, visual, proprioceptive• Synchronization is key
2. Mobility• Robot’s mechanics and kinematics
3. Creativity / Diversity in behavior• Robots dancing but not “robotic dancing”
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Synchronization is key
• Detection and adjustment of a system’s internal rhythm to an external rhythm in frequency (ν) and phase (θ)
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The Robot
Rotary encoders
Webcam
Microphone
Central-processor
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Differential-drive
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Controls flowchart
Rotary encoders
Webcam
Microphone
Central-processor:
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Differential-drive
Rhythm detection Comparator
νref, θref
νmeas,θmeas
Motion generator
Dance
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Questions?http://delmoswade.files.wordpress.com/2009/10/boombox-project-1.jpghttp://www.evolution.com/products/ersp/sdk.htmlhttp://upload.wikimedia.org/wikipedia/commons/6/63/KeeponTophatNextfest2007.jpghttp://www.wired.com/gadgetlab/2010/06/dance-dance-revolution-20-robots-think-they-can-dance/J.-J. Aucouturier, "Cheek to chip: Dancing robots and AI's future," IEEE Intelligent Systems, vol. 23, no. 2, pp. 74-
84, 2008.http://www.msnbc.msn.com/id/28300535/C. Crick, M. Munz, and B. Scassellati. Synchronization in Social Tasks: Robotic Drumming. Proceedings of the
15th IEEE International Symposium on Robot and Human Interactive Communication, 2006.A. Schollig, F. Augugliaro, and R. D'Andrea. Synchronizing the motion of a quadrocopter to music. In
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2010. to appear.
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