Enhanced robot audition by dynamic acoustic sensing in moving humanoids

Vladimir Tourbabin, Hendrik Barfuss, Boaz Rafaely, Walter Kellermann

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

8 Scopus citations

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.

Original languageEnglish
Title of host publication2015 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2015 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5625-5629
Number of pages5
ISBN (Electronic)9781467369978
DOIs
StatePublished - 4 Aug 2015
Event40th IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2015 - Brisbane, Australia
Duration: 19 Apr 201424 Apr 2014

Publication series

NameICASSP, IEEE International Conference on Acoustics, Speech and Signal Processing - Proceedings
Volume2015-August
ISSN (Print)1520-6149

Conference

Conference40th IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2015
Country/TerritoryAustralia
CityBrisbane
Period19/04/1424/04/14

Keywords

  • DoA estimation
  • Humanoid robots
  • acoustic sensing
  • robomorphic array
  • robot audition

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