At SXSW 2019, Moritz Simon Geist performed and presented several workshops on using robots and MIDI.  His new EP is created completely with MIDI controllers controlling robots he created himself. 

A latency control concept for midi driven mechanic robotic instruments

Geist is deeply into MIDI. His blog details a proposal for how to overcome the latency caused by physical movements of robots using MIDI and Cycling 74' Max.