In this paper we present the architecture for a 
robotic system using a humanoid robot, based on the Lego 
Mindstorms NXT, which tries to simulate the human 
rhythmic perception from audio signals, and its reactive 
behavior in the form of dance. To do so we implemented low- 
level aspects of rhythm perception based on Marsyas, an open 
source software framework for audio processing. The model’s 
output is sent to the robot control application in real-time, via 
sockets, shaped in three rhythmic events, representing soft, 
medium and strong onsets in the music. The dance 
movements can be dynamically defined trough an interactive 
interface and are performed by the robot in a reactive 
manner to these rhythmic events’ occurrence. These 
movements also depend on two kinds of sensorial events, 
namely the color stepped on the floor or the proximity to 
some kind of obstacle. This interactive robot control keeps the 
dynamism manifested by the human behavior, granting 
spontaneous and dynamic dance movements in synchronism 
to music, without any previous knowledge of it.