A Robot Musician Interacting with a Human Partner through Initiative Exchange

This paper proposes a novel method to realize an initiativeexchange for robot. A humanoid robot plays vibraphone exchanging initiative with a human performer by perceivingmultimodal cues in real time. It understands the initiative exchange cues through vision and audio information.In order to achieve the natural initiative exchange betweena human and a robot in musical performance, we built thesystem and the software architecture and carried out the experiments for fundamental algorithms which are necessaryto the initiative exchange.