RoboMus: Robotic Musicians Synchronization

Technological evolution has provided the growth of new research areas that combine music and technology, such as ubimus (ubiquitous music) and IoMusT (Internet of Musical Things). This paper presents synchronization strategies applied to musical robots, using as a practical example a robotic bongo connected with the RoboMus platform. Thus, we present clock synchronization by SNTP and robot mechanical delay compensation through neural networks. We also applied real-time audio processing for synchronization with other robots or humans, creating rhythm patterns. Experimental results for delay compensation achieved an average delay of 6.65ms ± 4.35ms and results for real-time processing archived an average delay equal to 5.68ms ± 4.12ms.