Cooperative dancing with an industrial manipulator: Computational cybernetics complexities

Synchronization of music and dance of industrial manipulators is studied, simulated and realized. The results are shown in this paper. To formulate the dance, a modified Labanotation software has been developed, and a user-friendly human-machine interface is designed to enable the user to program the robot easily. The system is incorporated with a music analyzer, employing Fast Fourier Transform, to track the beats. The robot dances in synchrony with the input from the music analyzer. Experiments are done on a six degree-of-freedom industrial robot.