Musical Beat-Tracking for Robots and Its Application to A Music Robot

近年,ヒューマノイドやホームロボットなど人とソーシャル インタラクションを行うロボットの研究が盛んに行われている. 実際に,ロボットが日常環境でソーシャルインタラクションを行 うためには,自らの耳で音を聴き,それに応じて行動する能力 が必要である.音声コミュニケーション能力はいうまでもなく, 人が演奏した音楽を聴き,その音楽に応じて歌ったり踊ったり する音楽インタラクション能力は,自然で豊かなインタラクショ ンを実現する上で重要である.本稿では,音楽インタラクション における最も基本的な情報の一つであるビート(拍)に着目し, ロボットへの適用で重要となる高速追従性と安定性を兼ね備え た STPMリアルタイムビートトラッキング(spectro-temporal pattern matching based real-time beat tracking)法を提案す る.また,提案手法で抽出したビート情報を用いて,歌唱や口

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