Sound-based control with two microphones

Aly Magassouba 1 Nancy Bertin 2 François Chaumette 1
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
2 PANAMA - Parcimonie et Nouveaux Algorithmes pour le Signal et la Modélisation Audio
IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE, Inria Rennes – Bretagne Atlantique
Abstract : — This paper presents a novel approach to robot audition by performing robotic tasks with auditory cues. Unlike many previous works, we propose a control scheme, that does not require any explicit sound source localization. This approach is capable of controlling all the three degrees of freedom in a plane from two microphones. Built upon the sensor-based control framework, this approach relies on implicit sound source direction obtained from the time difference of arrival (TDOA). We introduce an analytical modelling of auditory cues considering a robot equipped with a pair of microphones and multiple sound sources, from which a control scheme is designed. A stability analysis is provided as well. The results obtained in simulation show the feasibility and the suitability of this method even in reverberant area.
Type de document :
Communication dans un congrès
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'15, Sep 2015, Hamburg, Germany. pp.5568-5573, 2015
Liste complète des métadonnées

Littérature citée [17 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/hal-01185841
Contributeur : Eric Marchand <>
Soumis le : vendredi 21 août 2015 - 16:17:48
Dernière modification le : jeudi 11 janvier 2018 - 16:58:58
Document(s) archivé(s) le : mercredi 26 avril 2017 - 10:06:31

Fichier

2015_iros_magassouba.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-01185841, version 1

Citation

Aly Magassouba, Nancy Bertin, François Chaumette. Sound-based control with two microphones. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'15, Sep 2015, Hamburg, Germany. pp.5568-5573, 2015. 〈hal-01185841〉

Partager

Métriques

Consultations de la notice

701

Téléchargements de fichiers

163