Kyoto University Music Robots Group
Accompaniment robot

Angelica Lim

PhD Candidate, Speech Media Processing Group (Okuno Lab)
Department of Intelligence Science and Technology, Graduate School of Informatics, Kyoto University
京都大学大学院 情報学研究科 知能情報学専攻 奥乃研究室
Rm :　424号室 (第1研究室)
Tel :　075-753-4952
E-mail : angelica[at]kuis.kyoto-u.ac.jp
LinkedIn: Angelica Lim

Publications

My Master's thesis was entitled Design and Implementation of Emotions for Humanoid Robots based on the Modality-independent DESIRE Model. (pdf, 31 Mb) It discusses how we can generate and analyze emotions in the same way, whether it's in voice, music or movement. My model is based on four parameters: speed, intensity, regularity and extent (SIRE). The thesis discusses how to use this approach to add emotional colour to humanoids such as HRP-2, NAO, and potentially any other robot.

Journals

  1. Angelica Lim, Tetsuya Ogata, Hiroshi G. Okuno: Towards expressive musical robots: A cross-modal framework for emotional gesture, voice and music, EURASIP Journal on Audio, Speech, and Music Processing, 2012:3, Published: 17 January 2012. doi:10.1186/1687-4722-2012-3
  2. Angelica Lim, Takeshi Mizumoto, Tetsuya Ogata, Hiroshi G. Okuno: A musical robot that synchronizes with a co-player using non-verbal cues, Advanced Robotics, Special Issue on Cutting Edge of Robtics in Japan, Vol.26 (2012) pp.363-381. doi:10.1163/156855311X614626
  3. リム アンジェリカ, 水本 武志, 大塚 琢馬, 古谷 ルイ賢造, 尾形 哲也, 奥乃 博: 音楽共演ロボット: 開始・終了キューの画像認識による人間のフルート奏者との実時間同期, 情報処理学会論文誌, Vol.52, No.12 (Dec., 2011) 採録決定, Sep. 13, 2011. pdf

International Conferences

  1. Angelica Lim, Tetsuya Ogata, Hiroshi G. Okuno: Converting emotional voice to motion for robot telepresence, Proceedings of IEEE-RAS International Conference on Humanoid Robots (Humanoids 2011), accepted as oral (acceptance rate 17.4% = 28/190), Bled, Slovenia, Oct. 26-28, 2011.
  2. Angelica Lim, Takeshi Mizumoto, Takuma Otsuka, Tatsuhiko Itohara, Kazuhiro Nakadai, Tetsuya Ogata, Hiroshi G. Okuno: More cowbell! A musical ensemble with the NAO thereminist, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-2011), IROS 2011 Standard Platform Demo, San Francisco, 25-30 Sep. 2011.
  3. Angelica Lim, Takeshi Mizumoto, Louis-Kenzo Cahier, Takuma Otsuka, Toru Takahashi, Kazunori Komatani, Tetsuya Ogata, Hiroshi G. Okuno: Robot Musical Accompaniment: Integrating Audio and Visual Cues for Real-time Synchronization with a Human Flutist (Invited paper), Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS-2010), IEEE, RSJ, Taipei, Oct. 2010. NTF Award for Entertainment Robots and Systems (1/832 papers) pdf demo
  4. Angelica Lim, Takeshi Mizumoto, Toru Takahashi, Tetsuya Ogata, Hiroshi G. Okuno: Programming by Playing and Approaches for Expressive Robot Performances, Proceedings of IEEE/RSJ-2010 Workshop on Robots and Musical Expression, Oct. 2010, Taipei, Taiwan. pdf demo page poster
  5. Takeshi Mizumoto, Angelica Lim, Takuma Otsuka, Kazuhiro Nakadai, Toru Takahashi, Tetsuya Ogata, Hiroshi G. Okuno: Integration of flutist gesture recognition and beat tracking for human-robot ensemble, Proceedings of IEEE/RSJ-2010 Workshop on Robots and Musical Expression, Oct. 2010, Taipei, Taiwan. pdf

National Conferences

  1. Angelica Lim, 尾形 哲也, 奥乃 博: The DESIRE Model: Cross-modal emotion analysis and expression for robots, 情報処理学会第74回全国大会, 5ZA-4, 8 Mar. 2012. 名古屋工業大学. Presented in Japanese. Student award.
  2. Angelica Lim, Tetsuya Ogata, Hiroshi G. Okuno: Improving social telepresence by converting emotional voice to robot gesture, 日本ロボット学会第29回学術講演会, , 芝浦工業大学, Sep. 7-9, 2011. pdf
  3. Angelica Lim, 中村 圭佑, 中臺 一博, 尾形 哲也, 奥乃 博: Audio-visual musical instrument recognition 情報処理学会第73回全国大会, 2-309-310, 5R-9, March 3, 2011. pdf
  4. Angelica Lim, Takeshi Mizumoto, Louis-Kenzo Cahier, Takuma Otsuka, Toru Takahashi, Tetsuya Ogata, Hiroshi G. Okuno: Multimodal gesture recognition for robot musical accompaniment, 日本ロボット学会第28回学術講演会, 名古屋工業大学, Sep. 2010. pdf
  5. Angelica Lim, Takeshi Mizumoto, Takuma Otsuka, Toru Takahashi, Kazunori Komatani, Tetsuya Ogata and Hiroshi G. Okuno, Robot Musical Accompaniment: Real-time Synchronization using Visual Cue Recognition 情処第72回全国大会, 6T-7, Mar. 2010 pdf

In the Media

Robot revolution -- Significant otherness in Japan. Daily Yomiuri, p.14, (Aug. 7, 2010): I play the role of ``human" in a shot with Geminoid-F and my robot, Naoki.
Robo-theremin player jams with humans, New Scientist TV - Born to be Viral (July 15, 2011)
BS Japan "A Prince Shotoku-like robot that listens to multiple voices at the same time!" (February 4, 2011): Played the flute with the opera-singing thereminist robot on Japanese TV!
Mensch 2.0 Der musikalische Kellner -- Ein Roberter, der alles hoert (January, 2011): Interview for Swiss-German documentary on latest robotics technology
GoRobotics: An interview on my background and perspective on robotics
Dot Diva: My profile alongside other cool gals in computer science!
Anita Borg Institute: An article about our autonomous underwater vehicle's (AUV) competition experience.
SFU Computing Science: On a Technical Achievement award for our Search and Rescue robot (Richard Tapia Robotics Competition).

My articles on robotics

I am a Japan correspondent for IEEE Spectrum robotics blog, Automaton.
First robot marathon ends with great finale
Voice-activate robot feeds you your desired dish
Robot helps you put your shirt on
Using smiles and frowns to teach robots how to behave
A new way for robots to balance on two feet

My Music

Pavane

My Photos

Robot Encounters around Japan
Lab trip to Shirakawa-go (Sept. 17-18, 2010)
International Robot Exhibition 2009 (Tokyo Big Sight, Nov 25, 2009)
Lab Barbeque (May 27, 2009)

Demo Videos

Please visit the Kyoto University Music Robots group page for a full list of music robot videos. Or, you might say, robot music videos.

Converting emotional voice to motion for robot telepresence

NAO robot plays the Theme from Star Trek

NAO plays Hey Jude while listening to the beat

A Theremin-playing, Opera-singing Robot Accompanist


Programming by Playing: A Music Robot with Expression

Visual Cue Test with Vocaloid

In this video, I perform Lakme's Flute Duet with Prima Vocaloid. I start and stop Vocaloid using a vision-based flute cue recognition algorithm. In other words, I control when Prima starts and stops by moving my flute! A short description can be found here.

Other Videos

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