Enhanced robot audition by dynamic acoustic sensing in moving humanoids

Conference contribution
(Conference Contribution)


Publication Details

Author(s): Tourbabin V, Barfuß H, Rafaely B, Kellermann W
Publication year: 2015
Pages range: 5625-5629
ISBN: 9781467369978
ISSN: 2379-190X
Language: English


Abstract


Auditory systems of humanoid robots usually acquire the surrounding sound field by means of microphone arrays. These arrays can undergo motion related to the robot's activity. The conventional approach to dealing with this motion is to stop the robot during sound acquisition. This approach avoids changing the positions of the microphones during the acquisition and reduces the robot's ego-noise. However, stopping the robot can interfere with the naturalness of its behaviour. Moreover, the potential performance improvement due to motion of the sound acquiring system can not be attained. This potential is analysed in the current paper. The analysis considers two different types of motion: (i) rotation of the robot's head and (ii) limb gestures. The study presented here combines both theoretical and numerical simulation approaches. The results show that rotation of the head improves the high-frequency performance of the microphone array positioned on the head of the robot. This is complemented by the limb gestures, which improve the low-frequency performance of the array positioned on the torso and limbs of the robot.


FAU Authors / FAU Editors

Barfuß, Hendrik
Professur für Nachrichtentechnik
Kellermann, Walter Prof. Dr.-Ing.
Professur für Nachrichtentechnik


External institutions
Ben-Gurion University of the Negev (BGU) / אוניברסיטת בן-גוריון בנגב


How to cite

APA:
Tourbabin, V., Barfuß, H., Rafaely, B., & Kellermann, W. (2015). Enhanced robot audition by dynamic acoustic sensing in moving humanoids. In Proceedings of the IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP) (pp. 5625-5629). Brisbane, AU.

MLA:
Tourbabin, Vladimir, et al. "Enhanced robot audition by dynamic acoustic sensing in moving humanoids." Proceedings of the IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), Brisbane 2015. 5625-5629.

BibTeX: 

Last updated on 2019-19-04 at 14:38