This paper presents an IMU (Inertial Measurement Unit) based human gesture recognition system
for a robot instrument player to understand the instructions dictated by an orchestra conductor
and accordingly adapt its musical performance. It is an extension of our previous publications on
natural human-robot musical interaction [28]. With this system, the robot can understand the real-
time variations in musical parameters dictated by the conductor's movements, adding expression to
its performance while being synchronized with all the other human partner musicians. The enhanced
interaction ability would obviously lead to an improvement of the overall live performance, but also
allow the partner musicians, as well as the conductor, to better appreciate a joint musical performance,
thanks to the complete naturalness of the interaction
