Indonesian puppet theater robot with gamelan music emotion recognition

In this paper, we propose to protect wayang puppet theater, an intangible cultural heritage from Indonesia by turning a robot into a puppeteer successor. We developed a seven degrees-of-freedom manipulator to actuate sticks attached to the wayang puppet body and hands. We also developed a gamelan music emotion recognition so that the robot could control its movement based on the musical pattern. The robot could imitate some of the puppeteer's manipulations and correctly recognized by a human for around 80% in overall. The experiments also revealed that the algorithm had overall over than 90% recognition rate for identifying the delighted song, afraid song and noise.