I'm working on a robotic drumming project, but rather than playing canned sequences, I'm experimenting with rhythm synthesis to create an intuitive and expressive instrument that anyone can play. This was a test of an early version with rhythm synthesis happening with oscillators in Puredata that trigger OSC hit instructions to the robot which is just an ESP8266 wired to a Vertiq smart motor.
https://youtu.be/zeHJXyyhJ70My model of rhythm in that version was extremely naive, so now I'm now trying to grok Godfried Toussaint's The Geometry of Musical Rhythm with the goal of moving the rhythm generation to the microcontroller. This is to have a toolset for making autonomous musical ensembles.
I'm definitely having challenges figuring things out, so if anyone else is interested in this stuff, ping me and I'd love to share notes.