Using Audio and Haptic Feedback to Improve Pitched Percussive Instrument Performance in Humanoids

We present a system which allows an adult-sized humanoid to determine whetheror not it is correctly playing a pitched percussive instrument to produce adesired sound. As hu- man musicians utilize sensory feedback to determine ifthey are successfully using their instruments to generate certain pitches,robot performers should be capable of the same feat. We present a noteclassification algorithm that uses auditory and haptic feedback to decide if anote was well- or poorly-struck. This system is demonstrated using Hubo, anadult-sized humanoid, which has been enabled to actu- ate pitched pipes usingmallets. We show that, with this system, Hubo is able to determine whether ornot a note was played correctly.