[xtrohnx]

The Logos Foundation in Belgium has been in the robot musician game for a long minute: https://en.wikipedia.org/wiki/Logos_Foundation

Godfried-Willem Raes is a fascinating guy and builds the robots. I asked him once about how he coded his firmware and he insisted that nothing but a very specific flavor of Power Basic was appropriate.

I can't remember the exact tech he uses, but a lot of the performances of the orchestra involve human dancing and movement that is translated into musical phrases for the robots. The sensors have excellent latency, but don't work so well with clothes on. As any engineer would conclude, the true problem was in wearing pants and so the performances are mostly in the nude.