David France, manager for Kelly's ex-wife Andrea Kelly, told the Chicago Sun-Times that the singer hadn't made a child support payment that was due by late Tuesday.
Kelly denied all allegations of sleeping with anyone underage.
"He didn't come here to go to jail", said his publicist, Darryll Johnson, who said Kelly was prepared to pay $50,000 to $60,000.
"The reason he can't pay, as you know, he hadn't worked in a long time".
The singer's next hearing is scheduled for March 13, sheriff's spokeswoman Sophia Ansari said.
Kelly left the courtroom with his lawyers through a different door than he entered. But some attorney's, like Brenda Derouen, saw the interview and thought, "What is R. Kelly doing?" He spent three nights in jail before posting $100,000 to secure his release on $1 million bail.
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"In my history as a prosecutor, I loved it when a defendant would say things or make comments about his or her defense", said Illinois Appellate Judge Joseph Birkett, who said he did not watch the Kelly interview and was speaking only as a former prosecutor. "People. There are older men that like younger women ... there are younger women that like older men". He said Kelly did not have the whole amount because he has not been able to work. "I can state here unequivocally that at no point the Savages requested any money from Mr. Robert Sylvester Kelly, they have never received any money from Robert Sylvester Kelly, they don't want any money from Robert Sylvester Kelly".
The 52-year-old singer was charged last month in Chicago with sexually abusing four females dating back to 1998, including three underage girls.
"All of them are lying", Kelly said in segments of the interview broadcast Wednesday.
Kelly additionally spoke on claims he holds women hostage in his home for, what many have called, his sex cult. He was tried in that case and acquitted of child pornography charges in 2008. When King asked Kelly if he has held women against their will, he replied: "That's stupid!" Kelly's income took a significant hit after he was dropped by his record label amid public outcry over allegations of sexual abuse of minors raised in the Lifetime documentary series "Surviving R. Kelly". "I've been hearing things and seeing things on the blogs, you know, I'm just exhausted".
Kelly has been associated with accusations of abuse, manipulation and inappropriate encounters with girls and young women for more than two decades.