Abstract
We present Shimon, an interactive improvisational roboticMusicianship. The robot listens to a human musician and cphy, while playing simultaneously with the human. We discthen present a set of novel interactive improvisation sysvisual expression. The system also uses anticipatory beatwith the human player, and improvisation engine based on Models. Our system was implemented in a number of full-lehighly coordinated melodic and rhythmic human-robot jointin front of a live public audience more in multiple conce