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              <span class="vrtx-title">Dr. Squiggles</span>
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          <dt class="status-header">Status</dt>
          <dd class="status-value">Completed</dd>
        
          
        
          
        
        
          
        
        
          <dt class="duration-header">Duration</dt>
          <dd class="duration-value">01.01.2020–01.08.2022</dd>
        
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        <div class="vrtx-introduction"><p>Dr. Squiggles is an interactive musical robot that plays rhythms by tapping. It listens to rhythm and plays along based on what it hears.</p>
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            <img src="/ritmo/english/projects/dr-squiggles/dr_squiggles_thumbnail-copy.jpg" alt="A robot with octopus-like components and the text &quot;Dr. Squiggles&quot;. Photo." loading="lazy"/>
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                              <img src="https://www.mn.uio.no/ifi/english/people/aca/kyrrehg/kyrre-02-1236.jpg" alt="Kyrre Glette" loading="lazy"/>
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                              <a class="vrtx-contact-person-name" href="https://www.mn.uio.no/ifi/english/people/aca/kyrrehg/index.html">Kyrre Glette</a>
                          
                          
                            <span class="vrtx-contact-person-affiliation">University of Oslo</span>
                          
                          
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      <li>        <a href="/ritmo/english/projects/dr-squiggles/events/">Events</a>
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              <h2>Autonomous robotics meets rhythm research</h2>

<div style="position:relative; width:100%; height:0; padding-bottom:56.25%;"></div>

<p>Dr. Squiggles, the RITMO-designed robot,&nbsp;listens for tapping produced by humans or other musical robots and attempts to play along and improvise its own rhythms based on what it hears.</p>

<p>In this project, we are building a swarm of Dr. Squiggles robots. Each robot has a powerful onboard computer and is therefore fully autonomous, enabling the swarm to be completely decentralized. The robots are considered as:</p>

<ol>
	<li>An interactive digital artwork</li>
	<li>A platform that will be used to study several of our key research questions</li>
	<li>A product that musical hobbyists might eventually have in their home, that would help them improve their musical skills</li>
</ol>

<h2>Flexible and customisable robotics</h2>

<div id="canvas_div" style="filter: blur(0px);"><canvas height="180" id="eyes" width="370"></canvas></div>

<p>The Dr Squiggles platform is open, and by customizing the software and setup we can use it in multiple settings:</p>

<ul>
	<li>Explore human-robot interaction – what makes robots fun and engaging?</li>
	<li>Explore how interactive robots can help people gain music-related skills.</li>
	<li>To use an analysis-by-synthesis method to understand how rhythm works in human and animal brains.</li>
	<li>Explore dynamics in a collective setting, with robots only or a mix of robots and humans.</li>
	<li>Explore swarm behaviour – how can a large number of autonomous robots collaborate on a complex shared task like playing music together?</li>
</ul>

<h2>Images and Video</h2>

<p><img alt="Three Dr Squiggles robots Playing Pipe Organ. Photo." src="/ritmo/english/projects/dr-squiggles/organ_pipes_reduced_with_logo.png" style="width:auto;" loading="lazy"/> <img alt="Three Dr Squiggles robots together with 4 self-playing guitars as shown at NIME 2020. Photo." src="/ritmo/english/projects/dr-squiggles/hdr_composite_small.jpg" style="width:auto;" loading="lazy"/> <img alt="Three Dr Squiggles robots playing glockenspiels. Photo." src="/ritmo/english/projects/dr-squiggles/setup_hdr_1920-copy.jpg" style="width:auto;" loading="lazy"/> <img alt="Three Dr Squiggles robots with their creator, Michael Krzyzaniak. Photo." src="/ritmo/english/projects/dr-squiggles/annica_reduced.jpg" style="width:auto;" loading="lazy"/></p>

<p>&nbsp;</p>

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<p>&nbsp;</p>

<p>&nbsp;</p>

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<p>&nbsp;</p>

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<p>&nbsp;</p>

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<h2><br/>
</h2>

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    <h2>Participants</h2>

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                <div class="vrtx-project-participant">
                    <div class="vrtx-participant-picture">
                      <img alt="Picture of Kyrre Glette" src="https://www.mn.uio.no/ifi/english/people/aca/kyrrehg/kyrre-02-1236.jpg" loading="lazy"/>
                    </div>
              <div class="vrtx-participant-info">
                  <a href="https://www.mn.uio.no/ifi/english/people/aca/kyrrehg/index.html" class="vrtx-participant-name">Kyrre Glette</a>

                    <span class="vrtx-participant-affiliation">
University of Oslo                    </span>

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            </li>
            <li>
                <div class="vrtx-project-participant">
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                      <img alt="Picture of Cagri Erdem" src="https://www.mn.uio.no/ifi/personer/vit/cagrie/cagri_web.jpg" loading="lazy"/>
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                  <a href="https://www.mn.uio.no/ifi/english/people/aca/cagrie/index.html" class="vrtx-participant-name">Cagri Erdem</a>

                    <span class="vrtx-participant-affiliation">
University of Oslo                    </span>

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            </li>
            <li>
                <div class="vrtx-project-participant">
                    <div class="vrtx-participant-picture">
                      <img alt="Picture of Alexander Refsum Jensenius" src="/ritmo/english/people/management/alexanje/arjensenius_2025_2_150px.png" loading="lazy"/>
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                  <a href="/ritmo/english/people/management/alexanje/index.html" class="vrtx-participant-name">Alexander Refsum Jensenius</a>

                    <span class="vrtx-participant-affiliation">
University of Oslo                    </span>

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            </li>
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                <div class="vrtx-project-participant">
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                      <img alt="Picture of Habibur Rahman" src="https://www.mn.uio.no/ifi/english/people/aca/habiburr/img_1463.jpg" loading="lazy"/>
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                  <a href="https://www.mn.uio.no/ifi/english/people/aca/habiburr/index.html" class="vrtx-participant-name">Habibur Rahman</a>

                    <span class="vrtx-participant-affiliation">
University of Oslo                    </span>

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            </li>
            <li>
                <div class="vrtx-project-participant">
                    <div class="vrtx-participant-picture"></div>
              <div class="vrtx-participant-info">
                  <span class="vrtx-participant-name">Michael Krzyzaniak</span>

                  <span class="vrtx-participant-affiliation">University of Oslo</span>

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            </li>
            <li>
                <div class="vrtx-project-participant">
                    <div class="vrtx-participant-picture"></div>
              <div class="vrtx-participant-info">
                  <span class="vrtx-participant-name">Frank Veenstra</span>

                  <span class="vrtx-participant-affiliation">University of Oslo</span>

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            </li>
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            <li><a href="https://www.mn.uio.no/ifi/english/research/groups/robin/">Robotics and Intelligent Systems (ROBIN)</a></li>
            <li><a href="/ritmo/english/research/labs/fourms/index.html">fourMs Lab</a></li>
      </ul>
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</div>
          
          
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	      <h2>Publications</h2>
	      <ul>
	<li>Krzyzaniak, M. (2021). Musical Robot Swarms, Timing and Equilibria. Journal of new music research (2021):1-19. <a href="https://www.tandfonline.com/doi/pdf/10.1080/09298215.2021.1910313">https://www.tandfonline.com/doi/pdf/10.1080/09298215.2021.1910313</a></li>
	<li>Krzyzaniak, M. (2021). Dr. Squiggles Build Tutorial. In Make Magazine (Issue 76, Spring 2021). <a href="https://makezine.com/projects/dr-squiggles-an-ai-rhythm-robot/">https://makezine.com/projects/dr-squiggles-an-ai-rhythm-robot/</a></li>
	<li>Krzyzaniak, M. J.; Veenstra, F.; Erdem, C.; Jensenius, A. R. &amp; Glette, K. (2020). Air—Guitar Control of Interactive Rhythmic Robots. In ?yvind Brandtsegg &amp; Daniel Buner Formo (ed.), Proceedings of the 5th International Conference on Live Interfaces. (pp. 208-21) Norwegian University of Science and Technology. <a href="https://www.duo.uio.no/bitstream/handle/10852/79389/icli2020_27_Krzyzaniak.pdf?sequence=1&amp;isAllowed=y">https://www.duo.uio.no/handle/10852/79389</a></li>
</ul>

<h2>Art Installations</h2>

<ul>
	<li><a href="https://michaelkrzyzaniak.com/Fibers_Out_Of_Line/">Fibres out of Line</a> at RPPW 2021</li>
	<li><a href="/ritmo/english/projects/self-playing-guitars/events/2020/index.html">Strings Online</a> at NIME 2020</li>
	<li><a href="/ritmo/english/projects/dr-squiggles/events/2020/light-walk/index.html">Oslo Life Sciences Festival Light Walk</a></li>
	<li><a href="https://michaelkrzyzaniak.com/Research/Air_Guitar.pdf">Air-Guitar Control of Interactive Rhythmic Robots</a> at ICLI 2020 in Trondheim</li>
</ul>

<p>&nbsp;</p>

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          <h2>Funding</h2>

          
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        <div class="secondary-content"><h2>Code</h2>

<p>We have developed two key software libraries for Dr Squiggles.</p>

<ul>
	<li>The first is a general-purpose real time beat and tempo tracking library which is here:&nbsp;<a href="https://github.com/michaelkrzyzaniak/Beat-and-Tempo-Tracking">Beat and Tempo Tracking (github.com)</a></li>
	<li>The second is called OpenSquiggles and is a framework for rhythm generator modules that Dr Squiggles uses to improvise music:&nbsp;<a href="https://github.com/michaelkrzyzaniak/Dr_Squiggles">Open Squiggles (github.com)</a></li>
</ul>

<h2>Interested in Participating?</h2>

<p>Masters Students are welcome to work on Dr Squiggles. More information and suggested research questions are here:&nbsp;<a href="https://www.mn.uio.no/ifi/studier/masteroppgaver/robin/">Matsters Student Projects</a></p>

<h2>See also</h2>

<p><a href="/ritmo/english/projects/modeling-and-robots/index.html" target="vrtx-preview-window">Modelling and robots</a></p>
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        <span class="published-date-label">Published</span> <span class="published-date">Jan. 23, 2025 1:54 PM </span>
        
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