A video on Casa da Música's Robotic Gamelan, developed by myself, José Luís Azevedo and Miguel Ferraz in 2008/09. It started as an evolution of 'Lula' - vimeo.com/1379563 . The sound is awful, sorry about that!
A network of several independent robots play some of the javanese gamelan instruments: 2 bonangs, 2 demungs, 3 kenongs, 1 saron, 2 peking and 1 slentem, some gongs and an additional slentem in the near future. This network is controlled by a computer sending serial information using Max/MSP.
In this specific case, all the robots are being played using custom controllers made out of an Ikea salad bowl, an Arduino and two ultrasonic distance sensors.