Overcoming Motor-Rate Limitations in Online Synchronized Robot Dancing

We propose an online sensorimotor architecture for controlling a low-cost humanoid robot to perform dance movements synchronized with musical stimuli.The proposed architecture attempts to overcome the robot's motor constraints by adjusting the velocity of its actuators and inter-changing the attended beat metrical-level on-the-fly.Moreover, we propose quantitative metrics for measuring the level of beatsynchrony of the generated robot dancing motion and complement them with a qualitative survey about several aspects of the demonstrated robot dance performances.Tests with different dance movements and musical pieces demonstrated satisfactory beat-synchrony results despite the physical limitations of the robot.The comparison against robot dance sequences generated without inter-changing the attended metrical-level validated our sensorimotor approach for controlling beat-synchronous robot dancing motions using different dance movements and facing distinct musical tempo conditions.