This article offers a brief overview of the Tsukaba musical robot, developed by the Mu Research Group in 1985 at Waseda University, Tokyo. The robot was designed to play an organ much in the same way as a human performer. Using its video camera eye the robot could read a score and then perform the score using its ten fingers and two feet.
The Tsukaba Musical Robot
Computer Music Journal 10(2): 39-43.