The KHR-1 robot executing a sequence of pre-programmed gestures (i.e. Scenario). The Scenario is then executed according to the music info from three different MIDI files (Beethoven Symphony No. 5, Pink Panther Theme song, and Lullaby of Birdland). Only one track from each MIDI file is used - the main melodic track. The music info is applied to all joints involved in each gesture.robo
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