Haile  is a perceptual and improvisatory robotic percussionist designed to support expressive collaborations with human musicians. The robot is designed to combine the benefits of computational power, perceptual modeling, and algorithmic music with the richness, visual interactivity, and expression of acoustic playing. Constructed from wood and designed to play a Native American Powwow drum, Haile listens, interprets and improvises based on transformation and modification of human input. Haile has been presented in festival and concerts world wide including SIGGRAPH, the Manchester Science and Industry Museum and the London Science Museum.