Mechatronic Performance in Computer Music Compositions

This paper introduces seven mechatronic compositions performed over three years at the xxxxx (xxxx). Each composition is discussed in regard to how it addresses the performative elements of mechatronic music concerts. The compositions are grouped into four classifications according to the types of interactions between human and robotic performers they afford: Non-Interactive, Mechatronic Instruments Played by Humans, Mechatronic Instruments Playing with Humans, and Social Interaction as Performance. The orchestration of each composition is described along with an overview of the piece's compositional philosophy. Observations on how specific extra-musical compositional techniques can be incorporated into future mechatronic performances by human-robot performance ensembles are addressed.