This paper introduces an interactive multimodal artistic environment for communication between human and human-collaborative mobile robot, especially for musical performance. The developed system is a sort of active aids for the performance that allows users to get feedback for emotional activation in terms of sound, music, image and motion using a mobile robot with audio-visual input and output. In addition, the system provides a useful designing environment for musicians and composers not only to create music but also to coordinate media with the aid of MIDI Network. Two case studies on collaborative works of multimodal mobile robot with artists such as musician, coreographer and dancer are reported.

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