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Conference papers
Sound-based control with two microphones
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.
Cited literature [17 references]
https://hal.inria.fr/hal-01185841
Contributor : Eric Marchand <>
Submitted on : Friday, August 21, 2015 - 4:17:48 PM
Last modification on : Friday, July 10, 2020 - 4:24:07 PM
Long-term archiving on: : Wednesday, April 26, 2017 - 10:06:31 AM
Contributor : Eric Marchand <>
Submitted on : Friday, August 21, 2015 - 4:17:48 PM
Last modification on : Friday, July 10, 2020 - 4:24:07 PM
Long-term archiving on: : Wednesday, April 26, 2017 - 10:06:31 AM
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2015_iros_magassouba.pdf
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