RoBoser

Roboser artwork

Introduction to RoBoser

RoBoser is the result of a joint project between the Institute of Neuroinformatics and the Interdisciplinary Nucleus for Studies on Sound Communication of the University of Campinas in Brasil.  By combining CurvaSom, an algorithmic computer-based composition system, with IQR421 and DAC, a model of learning developed at INI, we have created the world's first autonomous real-world composition system, RoBoser. RoBoser creates music based on the experiences and ``emotions'' of a mobile robot as it explores its environment.

Motivation

RoBoser was developed to convey to a wide audience the excitement and challenges of Neuroinformatics research.  In this domain we investigate fundamental questions on brain organization; how do we perceive, learn, or remember?  In answering these questions we develop devices which express aspects of brain function.

RoBoser incorporates many elements which are based directly on this research.  The interface for RoBoser is incorporated into our software package, IQR421, which enables the user to define large scale models of neuronal systems interfaced to external devices.  Our models of behavioral control and learning (Distributed Adaptive Control) control RoBoser, a Khepera robot which is one of our principal research tools. RoBoser's environment also includes a silicon retina, an example of a neuromorphic sensor, which implements the basic circuitry of biological retinae.

RoBoser and algorithmic composition systems

Algorithmic composition systems have evolved side by side with the development of Western music. The first known proposal along these lines was made by the Italian monk Guido d'Arezzo in 1026, who resorted to using a number of simple rules which mapped liturgical texts in chant due to an overwhelming number of requests for his compositions. Also, in the Classical era, composers such Mozart, Haydn, and C. P. E. Bach used an algorithmic decision process called ``Würfelspiel'' (Dice Game) to compose minuets and other works.  In this case music was constructed by means of the random selection of segments from a table of motifs.  If random decision processes were used in composition before the twentieth century, then it is not so surprising to find John Cage using the Tarot or the I Ching to build music architectures.  So far humans have played the central role in the composition process.  Even in the case of computer generated music, the creativity of the composition process has relied on human input.

RoBoser breaks this trend by allowing a behaving robot to control an algorithmic composition system. The robot behaves, it senses the world and generates behavior. RoBoser uses these components of the robot's experience of the world to compose an evolving musical performance. For instance, the robot can sense light: it can choose to approach the light sources or avoid them and this combination of sensation and decision affects the composition. In order words, the music expresses the experience of the robot as it moves around its environment.

Environment

Although the composition is created without immediate human intervention, humans can still interact with RoBoser. RoBoser's environment includes a so-called silicon retina which looks at the audience.  Movements within its field of view are translated into changes of the lights in the floor of RoBoser's platform. In this way the world of the robot changes, affecting its experience and hence the music it generates. In this way, RoBoser creates the music in response to the movements of the audience.

ORBIT'98

The first public presentation of RoBoser was at the Orbit'98 show in Basel, Switzerland in September 1998, where the reaction of both press and public was extremely positive. RoBoser received widespread interest from the media. In addition to TV (SF1) and radio exposure, RoBoser was featured in an article in the Neue Zürcher Zeitung (in German).

Thanks to:

The RoBoser development team is:

If you would like to know more about RoBoser, please contact one of us.

Thanks to Dave Lawrence (dave@ini.phys.ethz.ch) for technical support and to Adam Briska (briskatron@yahoo.com) for all his help.

The silicon retina used in the RoBoser environment was developed by Dr. Jörg Kramer, INI, Zürich, Switzerland, kramer@ini.phys.ethz.ch.

jmb  1 Oct 1998