Rhythmic Synchronization of Dancing Robots Nick Wong Dr. Rafael Fierro 1 "This material is based upon work supported by the National Science Foundation under Grant No. IIS/REU/ “ "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."

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 2

Dancing robots? 3

Choreographed 4

Non-choreographed 5

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” 6

Synchronization is key Detection and adjustment of a system’s internal rhythm to an external rhythm in frequency (ν) and phase (θ) 7

The Robot Rotary encoders Webcam Microphone Central-processor 8 Differential-drive

Controls flowchart Rotary encoders Webcam Microphone Central-processor: 9 Differential-drive Rhythm detectionComparator ν ref, θ ref ν meas,θ meas Motion generator Dance

Questions? J.-J. Aucouturier, "Cheek to chip: Dancing robots and AI's future," IEEE Intelligent Systems, vol. 23, no. 2, pp , 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, 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), to appear. 10