There have been several implementations of two wheeled balancing robots [example]. And several which can read sheet music via a camera [example]. Others can ‘sing’ [example] – but the number of two-wheeled balancing robots that can autonomously read music and sing songs is low – possibly numbering just one.
A research team from the Department of Mechanical Engineering at the National Taiwan University of Science and Technology in Taipei, Taiwan, (a.k.a. Taiwan Tech) have recently created one – which not only performs all the aforementioned activities – but can do so simultaneously.
The robot can sight-read the music and lyrics of four traditional Mandarin songs (Siao Mi Fong, Siao Sing Sing, Wo Ai Tai Mei, and Cian Li Zhii Wai) and can sing them with an accuracy of 98% whilst balancing on two wheels.
“A singing voice usually can make people feel pleasant and comfortable, so it has become one of the indispensible elements in entertainment. A robot with singing capability may replace humans to serve the purpose. Someday when the techniques are mature, a robot may sing a solo in a theater to entertain its audience.“
- say the team in their research article "The Development of a MusicReading and Singing Two-Wheeled Robot"  which is published in the Journal of the Chinese Institute of Engineers, Vol 33, No 4 (2010)