synchronization of movements of a real humanoid robot with music n.
Download
Skip this Video
Loading SlideShow in 5 Seconds..
Synchronization of movements of a real humanoid robot with music PowerPoint Presentation
Download Presentation
Synchronization of movements of a real humanoid robot with music

play fullscreen
1 / 14

Synchronization of movements of a real humanoid robot with music

0 Views Download Presentation
Download Presentation

Synchronization of movements of a real humanoid robot with music

- - - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - - -
Presentation Transcript

  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