Rose is a stewart platform with mouth mechanics on top. It is controlled by an Odroid C2 with a microphone and a loudspeaker connected. The audio signal is processed by a beat detection library (thanks to Adam Stark). The outcoming beat is latency corrected (in total the whole chain has ca. 200ms which is noticeable) by leaving out one beat and matching the rhythm to the next beat. This rhythm is processed by a module generating different moves with various geometric curves. Accordingly the mouth movement is generated. The movements are transformed to servo angles by a module doing the stewart platform kinematics. All this is implemented in C++/Ubuntu. The servo signal is sent to a PWM breakout that controls the servos.