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.
https://hal.inria.fr/hal-01185841 Contributor : Eric MarchandConnect in order to contact the contributor Submitted on : Friday, August 21, 2015 - 4:17:48 PM Last modification on : Saturday, June 25, 2022 - 7:39:59 PM Long-term archiving on: : Wednesday, April 26, 2017 - 10:06:31 AM
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. ⟨hal-01185841⟩