Takeshi Mizumoto, Hiroshi Tsujino, Toru Takahashi, Tetsuya Ogata, Hiroshi G. Okuno：Thereminist robot: Development of a robot theremin player with feedforward and feedback arm control based on a Theremin's pitch model
Proceedings of IEEE/RSJ-2009 International Conference on Intelligent Robots and Systems.
Kazumasa Murata, Kazuhiro Nakadai, Ryu Takeda, Hiroshi G. Okuno, Yuji Hasegawa, Hiroshi Tsujino：Musical Beat-Tracking for Robots and Its Application to a Music Robot (in Japanese)
Journal of the RSJ, Vol. 27 (2009) No. 7 P 793-801
Takeshi Mizumoto, Angelica Lim, Takuma Otsuka, Kazuhiro Nakadai, Toru Takahashi, Tetsuya Ogata, Hiroshi G. Okuno：Integration of flutist gesture recognition and beat tracking for human-robot ensemble
Proceedings of IEEE/RSJ-2010 Workshop on Robots and Musical Expression, CD-ROM, Oct. 18, 2010
Tatsuhiko Itohara, Takuma Otsuka, Takeshi Mizumoto, Tetsuya Ogata, and Hiroshi G. Okuno：Audio-Visual Beat Tracking for Guitar Playing using Particle Filter (in Japanese)
The 29th Annual Conference of the RSJ, 2011
http://www.tandfonline.com/doi/abs/10.1163/156855311X614626#.VOGDxfmsVGw：A musical robot that synchronizes with a co-player using non-verbal cues
Advanced Robotics, Special Issue on Cutting Edge of Robotics in Japan, Sep. 16, 2012.
Joao Lobato Oliveira, Gokhan Ince, Keisuke Nakamura, Kazuhiro Nakadai, Hiroshi G. Okuno, Fabien Gouyon, Luis Paulo Reis：Beat Tracking for Interactive Dancing Robots
International Journal of Humanoid Robotics, in print, Vol.12, No. 1 (2015) 1550023 (24 pages), World Scientific Publishing Company. doi 10.1142/S0219843615500231