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
https://hal.inria.fr/hal-01185841
Contributeur : Eric Marchand
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Soumis le : vendredi 21 août 2015 - 16:17:48
Dernière modification le : mercredi 16 mai 2018 - 11:24:07
Document(s) archivé(s) le : mercredi 26 avril 2017 - 10:06:31
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〉
