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Method and device for realizing robot dancing and storage medium

A technology of robots and equipment, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of poor user experience, insufficient anthropomorphic dance movements, and low efficiency of manual choreography, and achieve the effect of improving user experience and enriching dance movements.

Active Publication Date: 2019-01-11
NANJING AVATARMIND ROBOT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the first way is that the developer needs to listen to the music first, then artificially understand the rhythm and mood of the music, and then manually arrange the dance movements in advance, and the manual arrangement is not only inefficient, but also the dancing effect is related to the level of the developer who arranges it
The second type only uses the beat information of music to generate dance movements. The dimension of dance movement generation is low, resulting in a low degree of matching between dance movements and music, and poor user experience. In addition, the dance movements independently randomly generated according to the beat information are not anthropomorphic enough. , and cannot reflect the ups and downs and emotions of the music

Method used

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  • Method and device for realizing robot dancing and storage medium
  • Method and device for realizing robot dancing and storage medium
  • Method and device for realizing robot dancing and storage medium

Examples

Experimental program
Comparison scheme
Effect test

no. 1 example

[0108] In the first embodiment of the present invention, a method for realizing robot dancing, such as figure 1 shown, including:

[0109] S1000 extracts the music low-order feature matrix of the audio source file, and the music low-order feature matrix is ​​matrix data of surface features of music;

[0110] Specifically, the types of audio source files include MP3, VQF, MIDI, etc., analyze the audio source files, and obtain a series of low-level music features by analyzing the frequency spectrum features of the audio source files, and matrix the low-level features of the music The corresponding music low-order feature matrix is ​​obtained by simplification, so as to obtain the corresponding music low-order feature matrix. Among them, the music low-level feature matrix is ​​the matrix data of the surface features of music, and the surface features are similar to rhythm, beat, etc., which do not need to be understood after listening, but can be directly analyzed and processed ...

no. 4 example

[0141] The fourth embodiment of the present invention, this embodiment is an optimized embodiment of the above third embodiment, compared with the above third embodiment, the improvement is that the S0510 is based on the music low-level feature matrix and the music The high-order feature matrix verifies the music feature classification model, and obtains the prediction error value of the music feature classification model specifically including:

[0142] S0511 dividing the music low-order feature matrix and music high-order feature matrix into several data sets;

[0143] S0512 sequentially rotate the data set into a verification set and a training set according to a cross-validation method;

[0144] S0513 Calculate the mean value of the verification results corresponding to all the cross-validation to obtain the prediction error value.

[0145] Specifically, the music low-order feature matrix is ​​used for segmentation. For example, if the music low-order feature matrix and t...

no. 5 example

[0147] The fifth embodiment of the present invention, this embodiment is an optimized embodiment of any one of the above-mentioned first to fourth embodiments, compared with any of the above-mentioned first to fourth embodiments, the improvement is that the S1000 acquires audio The music low-level feature matrix of the source file specifically includes:

[0148] S1100 dividing the audio source file to obtain several audio frames;

[0149] S1200 Perform audio signal processing on the audio frame to obtain the music low-order feature matrix; the audio signal processing includes windowing processing or frequency domain transformation processing after windowing processing.

[0150] Specifically, the acquisition of the low-order features of the music is by analyzing the audio source files in the time domain and frequency domain, and then extracting the Mel cepstral coefficients (MFCC), Music rhythm (Rhythm), music loudness (Loudness), music spectrum characteristics (complexity, fr...

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Abstract

The invention provides a method and device for realizing robot dancing and a storage medium. The method comprises the following steps that a music low-order feature matrix of an audio source file is extracted; the music low-order feature matrix is matrix data of the surface features of music; the music low-order feature matrix is input into a music feature classification model for calculating, anda corresponding music high-order feature matrix is obtained; the music high-order feature matrix is matrix data of the deep features of the music; and the music high-order feature matrix is input into a dancing actions generation model to generate dancing actions which meet kinematic constraints. The method and device for realizing robot dancing and the storage medium realize the purposes of reducing the time and energy of developers, enabling the robot to dance independently according to music feature information of a plurality of dimensions, and improving the matching degree between the dance actions and the music feature information.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a method, device and storage medium for realizing robot dancing. Background technique [0002] With the development of robot technology, more and more consumer-grade robots have entered thousands of households. However, the intelligence of robots directly affects the user experience. Robots dancing to music is a very common application scenario. The so-called robot dancing with the music means that the robot acquires the features of the audio source file according to the given audio source file, and then generates dance movements according to the features of the music, so as to realize the function of dancing with the music. [0003] At present, there are two ways to realize that the robot dances with the music. One is that the developer manually arranges the dance movements in advance according to the type, rhythm, and mood of the music, and then the robot calls the choreographed da...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00B25J9/16
CPCB25J9/1656B25J11/0035
Inventor 张光肖
Owner NANJING AVATARMIND ROBOT TECH CO LTD
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