Audio servo for robotic systems with pinnae

Sound localization is one of important abilities for robots which utilize auditory information. Binaural information such as interaural time difference (ITD) or interaural intensity difference(IID) is effective for horizontal sound localization. In order to extend this ability to vertical sound loca...

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Bibliographic Details
Published in2005 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 1881 - 1886
Main Authors Kumon, M., Shimoda, T., Kohzawa, R., Mizumoto, I., Iwai, Z.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2005
Subjects
Animals
Audio servo
Auditory system
Ear
Frequency domain analysis
Humans
Mechanical engineering
Microphones
Pinna notch
Robots
Servomechanisms
Shape
Sound localization
Spectral cues
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Summary:Sound localization is one of important abilities for robots which utilize auditory information. Binaural information such as interaural time difference (ITD) or interaural intensity difference(IID) is effective for horizontal sound localization. In order to extend this ability to vertical sound localization, spectral cues were utilized in this paper instead of increasing number of microphones. Spectral cues were the information about the vertical position of the sound source on frequency domain. Since spectral cues strongly depended on the shape of pinnae, artificial pinnae for auditory robots were designed based on diffraction-reflection model. A method to detect spectral cues was also developed. By utilizing them, a controller which made the robot orient to the sound source was proposed. Results of an experiment showed the validity of the proposed method.
ISBN:0780389123
9780780389120
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2005.1545092