Drum-mate: A Human-Humanoid Drumming Experience

“This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder." “Copyright IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.” DOI: 10.1109/ICHR.2007.4813875We present an exploratory study investigating a drumming experience with Kaspar, a humanoid child-sized robot, and a human. In this work, our aim is not to have Kaspar just replicate the human partner's drumming, but to engage with the human in a dasiasocial mannerpsila using head gestures in a call and response turn-taking interaction and to assess the impact of non-verbal gestures on the interaction. Results from the first implementation of a human-robot interaction experiment are presented and analysed qualitatively (in terms of participants' subjective experiences) and quantitatively (concerning the drumming performance of the human-robot pair). The interaction experience is discussed in terms of imitation, turn-taking, and the effect of gender differences.Peer reviewe