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音楽を通じた人とロボットの共生

Publicly Offered Research

Project AreaFounding a creative society via collaboration among humans and robots
Project/Area Number 22118502
Research Category

Grant-in-Aid for Scientific Research on Innovative Areas (Research in a proposed research area)

Allocation TypeSingle-year Grants
Review Section Complex systems
Research InstitutionTokyo Institute of Technology

Principal Investigator

中臺 一博  東京工業大学, 大学院・情報理工学研究科, 連携教授 (70436715)

Project Period (FY) 2010 – 2011
Project Status Completed (Fiscal Year 2011)
Budget Amount *help
¥11,960,000 (Direct Cost: ¥9,200,000、Indirect Cost: ¥2,760,000)
Fiscal Year 2011: ¥5,980,000 (Direct Cost: ¥4,600,000、Indirect Cost: ¥1,380,000)
Fiscal Year 2010: ¥5,980,000 (Direct Cost: ¥4,600,000、Indirect Cost: ¥1,380,000)
Keywords音楽ロボット / インタラクション / ビート追跡 / 楽譜追跡 / 演奏ロボット / ロボット聴覚 / 協奏 / 実時間処理
Research Abstract

H23年度については,これまでに構築した音楽処理に関連する個々の機能(楽譜情報を利用した頑健なビートトラッキング技術,自己雑音抑制技術,Kinectを用いた手の動き検出技術,フルート奏者のフルートの動き検出を利用した曲の開始・終了検出技術,振動子を用いた人・ロボット合奏モデル)を統合して,実機ロボットを用いた合奏デモを構築した.具体的には,人型ロボット2台,演奏者(人間)2名の4者によるカルテットを実現し,ロボットが人に,また人がロボットに合わせることにより調和のとれた人ロボット音楽インタラクションを実現した.また,人の楽器演奏に合わせてテルミンを演奏するロボットを構築し,ロボット分野で最高峰の国際会議であるIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)のExhibition Sessionや人工知能学会AI-Challenge研究会において実機デモを行い,その有効性を示した.さらに,より人ロボット共生学領域に貢献すべく,ATRで開発した16チャンネル屋内設置型マイクロホンアレイを用いて,複数名が自発的に行う会話に対して,各話者の位置や発話区間を推定する技術を開発した.また,誤推定を測る指標を提案し,その有効性を明らかにした.計画時に提案した音楽インタラクションにとどまらず,マイクロホンアレイを用いたよい聞き手ロボット実現に向けた基礎技術を開発することもでき,計画以上に研究を進めることができた.

Report

(2 results)
  • 2011 Annual Research Report
  • 2010 Annual Research Report
  • Research Products

    (33 results)

All 2012 2011 2010 Other

All Journal Article (6 results) (of which Peer Reviewed: 6 results) Presentation (26 results) Remarks (1 results)

  • [Journal Article] A multi-modal tempo and beat tracking system based on audio-visual information from live guitar performances2012

    • Author(s)
      T.Itohara, T.Otsuka, T.Mizumoto, et al
    • Journal Title

      EURASIP Journal on Audio, Speech, and Music Processing

      Volume: 2012:6 Issue: 1 Pages: 1-15

    • DOI

      10.1186/1687-4722-2012-6

    • Related Report
      2011 Annual Research Report
    • Peer Reviewed
  • [Journal Article] A musical robot that synchronizes with a co-player using non-verbal cues2012

    • Author(s)
      A.Lim, T.Mizumoto, et al
    • Journal Title

      Advanced Robotics

      Volume: No.26 Issue: 3-4 Pages: 363-381

    • DOI

      10.1163/156855311x614626

    • Related Report
      2011 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Robot Audition : Missing Feature Theory Approach and Active Audition2011

    • Author(s)
      H.G.Okuno, K.Nakadai, H.-D.Kim
    • Journal Title

      Robotics Research, Springer Tracts in Advanced Robotics

      Volume: 70/2011 Pages: 227-244

    • DOI

      10.1007/978-3-642-19457-3_14

    • ISBN
      9783642194566, 9783642194573
    • Related Report
      2011 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Real-Time Audio-to-Score Alignment using Particle Filter for Co-player Music Robots2010

    • Author(s)
      Takuma Ohtsuka, Kazuhiro Nakadai, Toru Takahashi, Tetsuya Ogata, Hiroshi G.Okuno
    • Journal Title

      EURASIP Journal of Advances in Signal Processing

      Volume: 2011(Online journal)

    • NAID

      120005439178

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] テルミンの音高・音量特性のモデルに基づくテルミン演奏ロボットの開発2010

    • Author(s)
      水本武志, 辻野広司, 高橋徹, 駒谷和範, 尾形哲也, 奥乃博
    • Journal Title

      情報処理学会論文誌

      Volume: 51 Pages: 2008-2019

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Music-ensemble robot that is capable of playing the theremin while listening to the accompanied music2010

    • Author(s)
      Takuma Otsuka, Takeshi Mizumoto, Kazuhiro Nakadai, Toru Takahashi, Kazunori Komatani, Tetsuya Ogata, Hiroshi G.Okuno
    • Journal Title

      Trends in Applied Intelligent Systems Lecture Notes in Computer Science

      Volume: 6096/2010 Pages: 102-112

    • Related Report
      2010 Annual Research Report
    • Peer Reviewed
  • [Presentation] Audio-Visual Integration for voice activity detection2012

    • Author(s)
      T.Yoshida, K.Nakadai
    • Organizer
      First Symposium on Binaural Active Audition for Humanoid Robots
    • Place of Presentation
      パリ(フランス)(招待講演)
    • Year and Date
      2012-02-27
    • Related Report
      2011 Annual Research Report
  • [Presentation] クワドロコプターを使った屋外音環境の収録と解析2011

    • Author(s)
      奥谷啓太, 吉田尚水, 中村圭佑, 中臺一博
    • Organizer
      第12回計測自動制御学会システムインテグレーション部門講演会,計測自動制御学会
    • Place of Presentation
      京都大学(京都)
    • Year and Date
      2011-12-24
    • Related Report
      2011 Annual Research Report
  • [Presentation] 音源定位手法MUSICのベイズ拡張2011

    • Author(s)
      大塚琢馬, 中臺一博, 尾形哲也, 奥乃博
    • Organizer
      人工知能学会第34回AI-Challenge研究会
    • Place of Presentation
      慶応大学(東京都)
    • Year and Date
      2011-12-15
    • Related Report
      2011 Annual Research Report
  • [Presentation] マルチロボットによるKinectを用いた同期合奏2011

    • Author(s)
      糸原達彦, 水本武志, A.Lim, 大塚琢馬, 中村圭佑, 長谷川雄二, 中臺一博, 尾形哲也, 奥乃博
    • Organizer
      人工知能学会第34回AI-Challenge研究会
    • Place of Presentation
      慶応大学(東京都)
    • Year and Date
      2011-12-15
    • Related Report
      2011 Annual Research Report
  • [Presentation] SLAMに基づく非同期分散マイクロホンアレイのキャリブレーションの評価2011

    • Author(s)
      三浦弘樹, 吉田尚水, 中村圭佑, 中臺一博
    • Organizer
      人工知能学会第34回AI-Challenge研究会
    • Place of Presentation
      慶応大学(東京都)
    • Year and Date
      2011-12-15
    • Related Report
      2011 Annual Research Report
  • [Presentation] マAn interactive musical ensemble with the NAO Thereminist2011

    • Author(s)
      A.Lim, 水本武志, 大塚琢馬, 糸原達彦, 中臺一博, 尾形哲也, 奥乃博
    • Organizer
      人工知能学会第34回AI-Challenge研究会
    • Place of Presentation
      慶応大学(東京都)(デモセッション)
    • Year and Date
      2011-12-15
    • Related Report
      2011 Annual Research Report
  • [Presentation] More cowbell! A musical ensemble with the NAO thereminist2011

    • Author(s)
      A.Lim, T.Muzumoto, T.Otsuka, T.Itohara, K.Nakadai, T.Ogata, H.G.Okuno
    • Organizer
      IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)
    • Place of Presentation
      サンフランシスコ(アメリカ)(デモセッション)
    • Year and Date
      2011-09-28
    • Related Report
      2011 Annual Research Report
  • [Presentation] SLAMとビームフォーミングによる非同期分散マイクロホンアレイのキャリブレーション2011

    • Author(s)
      三浦弘樹, 吉田尚水, 中村圭佑, 中臺一博
    • Organizer
      第29回日本ロボット学会学術講演会
    • Place of Presentation
      芝浦工業大学(東京都)
    • Year and Date
      2011-09-09
    • Related Report
      2011 Annual Research Report
  • [Presentation] ロボットのための情報量レベルに基づくアクティブ視聴覚統合の検討2011

    • Author(s)
      吉田尚水, 中村圭佑, 中臺一博
    • Organizer
      第29回日本ロボット学会学術講演会
    • Place of Presentation
      芝浦工業大学(東京都)
    • Year and Date
      2011-09-09
    • Related Report
      2011 Annual Research Report
  • [Presentation] 実MUSIC法を用いた音源定位のベイズ拡張2011

    • Author(s)
      大塚琢馬, 中臺一博, 尾形哲也, 奥乃博
    • Organizer
      第29回日本ロボット学会学術講演会
    • Place of Presentation
      芝浦工業大学(東京都)
    • Year and Date
      2011-09-09
    • Related Report
      2011 Annual Research Report
  • [Presentation] 実環境下での音源定位・音源検出の検討2011

    • Author(s)
      高橋徹, 中臺一博, 石井Carlos寿憲, Jani Even, 奥乃博
    • Organizer
      第29回日本ロボット学会学術講演会
    • Place of Presentation
      芝浦工業大学(東京都)
    • Year and Date
      2011-09-07
    • Related Report
      2011 Annual Research Report
  • [Presentation] Bayesian Extension of MUSIC for Sound Source Localization and Tracking2011

    • Author(s)
      T.Otsuka, K.Nakadai, T.Ogata, H.G.Okuno
    • Organizer
      International Conference on Spoken Language Processing (Interspeech 2011)
    • Place of Presentation
      フローレンス(イタリア)
    • Year and Date
      2011-08-30
    • Related Report
      2011 Annual Research Report
  • [Presentation] Design and Implementation of Selectable Sound Separation on a Texai Telepresence System using HARK2011

    • Author(s)
      T.Mizumoto, T.Yoshida, K.Nakadai, R.Takeda, T.Otsuka, T.Takahashi, H.G.Okuno
    • Organizer
      IEEE-RAS International Conference on Robotics and Automation (ICRA-2011)
    • Place of Presentation
      上海(中国)
    • Year and Date
      2011-05-10
    • Related Report
      2011 Annual Research Report
  • [Presentation] Audio-visual musical instrument recognition2011

    • Author(s)
      Angelica Lim, 中村圭佑, 中壹一博, 尾形哲也, 奥乃博
    • Organizer
      情報処理学会第73回全国大会
    • Place of Presentation
      東京,日本
    • Year and Date
      2011-03-04
    • Related Report
      2010 Annual Research Report
  • [Presentation] 累積頻度重みを適用したパーティクルフィルタによる実時間楽譜追従2011

    • Author(s)
      大塚琢馬, 中壹一博, 高橋徹, 尾形哲也, 奥乃博
    • Organizer
      情報処理学会第73回全国大会
    • Place of Presentation
      東京工業大学,東京
    • Year and Date
      2011-03-04
    • Related Report
      2010 Annual Research Report
  • [Presentation] Incremental Bayesian Audio-to-Score Alignment with Flexible Harmonic Structure Models2011

    • Author(s)
      T.Otsuka, K.Nakadai, T.Ogata, H.G.Okuno
    • Organizer
      International Society for Musical Information Retrieval Conference (ISMIR-2011)
    • Place of Presentation
      マイアミ(アメリカ)
    • Related Report
      2011 Annual Research Report
  • [Presentation] SLAM-based Online Calibration of Asynchronous Microphone Array for Robot Audition2011

    • Author(s)
      H.Miura, T.Yoshida, K.Nakamura, K.Nakadai
    • Organizer
      IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)
    • Place of Presentation
      サンフランシスコ(アメリカ)
    • Related Report
      2011 Annual Research Report
  • [Presentation] Improvement of Speaker Localization by Considering Multipath Interference of Sound Wave for Binaural Robot Audition2011

    • Author(s)
      E.-H.Kim, T.Muzumoto, T.Ogata, H.G.Okuno
    • Organizer
      IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)
    • Place of Presentation
      サンフランシスコ(アメリカ)
    • Related Report
      2011 Annual Research Report
  • [Presentation] Human-Robot Ensemble between Robot Thereminst and Human Percussionist using Coupled Oscillator Model2010

    • Author(s)
      Takeshi Mizumoto, Takuma Otsuka, Kazuhiro Nakadai, Toru Takahashi, Kazunori Komatani, Tetsuya Ogata, Hiroshi G.Okuno
    • Organizer
      IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-2010)
    • Place of Presentation
      Taipei, Taiwan
    • Year and Date
      2010-10-19
    • Related Report
      2010 Annual Research Report
  • [Presentation] Robot Musical Accompaniment Integrating Audio and Visual Cues for Real-time Synchronization with a Human Flutist2010

    • Author(s)
      Angelica Lim, Takeshi Mizumoto Lois-Kenzo Cahier, Takuma Otsuka, Toru Takahashi, Kazunori Komatani, Tetsuya Ogata, Hiroshi G.Okuno
    • Organizer
      IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-2010)
    • Place of Presentation
      Taipei, Taiwan
    • Year and Date
      2010-10-19
    • Related Report
      2010 Annual Research Report
  • [Presentation] Design and Implementation of Two-level Synchronization for Interactive Music Robot2010

    • Author(s)
      Takuma Otsuka, Kazuhiro Nakadai, Toru Takahashi, Kazunori Komatani, Tetsuya Ogata, Hiroshi G.Okuno
    • Organizer
      IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-2010)
    • Place of Presentation
      Taipei, Taiwan
    • Year and Date
      2010-10-19
    • Related Report
      2010 Annual Research Report
  • [Presentation] Integration of flutist gesture recognition and beat tracking for human-robot ensemble2010

    • Author(s)
      Takeshi Mizumoto, Angelica Lim, Takuma Otsuka, Kazuhiro Nakadai, Toru Takahashi, Tetsuya Ogata, Hiroshi G.Okuno
    • Organizer
      IEEE/RSJ IROS-2010 Workshop on Robots and Musical Expression
    • Place of Presentation
      Taipei, Taiwan
    • Year and Date
      2010-10-18
    • Related Report
      2010 Annual Research Report
  • [Presentation] Two-level Synchronization using Particle Filter for Co-player Music Robots2010

    • Author(s)
      Takuma Otsuka, Kazuhiro Nakadai, Toru Takahashi, Tetsuya Ogata, Hiroshi G.Okuno
    • Organizer
      IEEE/RSJ IROS-2010 Workshop on Robots and Musical Expression
    • Place of Presentation
      Taipei, Taiwan
    • Year and Date
      2010-10-18
    • Related Report
      2010 Annual Research Report
  • [Presentation] Programming by Playing and Approaches for Expressive Robot Performances2010

    • Author(s)
      Angelica Lim, Takeshi Mizumoto, Toru Takahashi, Tetsuya Ogata, Hiroshi G.Okuno
    • Organizer
      IEEE/RSJ IROS-2010 Workshop on Robots and Musical Expression
    • Place of Presentation
      Taipei, Taiwan
    • Year and Date
      2010-10-18
    • Related Report
      2010 Annual Research Report
  • [Presentation] 打楽器とロボットの合奏のための結合振動子モデルに基づく打撃時刻予想手法2010

    • Author(s)
      水本武志, 中壹一博, 大塚琢馬, 高橋徹, 尾形哲也, 奥乃博
    • Organizer
      日本ロボット学会第28回学術講演会
    • Place of Presentation
      名古屋工業大学,愛知
    • Year and Date
      2010-09-22
    • Related Report
      2010 Annual Research Report
  • [Presentation] Predictive Score Following user Particle Filter for Music Robots2010

    • Author(s)
      Takuma Otsuka, Kazuhiro Nakadai, Toru Takahashi, Tetsuya Ogata, Hiroshi G.Okuno
    • Organizer
      日本ロボット学会第28回学術講演会
    • Place of Presentation
      名古屋工業大学,愛知
    • Year and Date
      2010-09-22
    • Related Report
      2010 Annual Research Report
  • [Remarks]

    • URL

      http://winnie.kuis.kyoto-u.ac.jp/RMEWS/

    • Related Report
      2010 Annual Research Report

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Published: 2010-08-23   Modified: 2018-03-28  

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