Audio-based robot control from interchannel level difference and absolute sound energy

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
Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : This paper is a follow-up way to our previous works regarding audio-based control, that is an alternative method for auditory-based robot tasks. Conversely to classic methods oriented towards sound source localization, audio- based control is a sensor-based framework that does not localize the sound source. Instead, auditory features are used as inputs of a closed-loop control scheme. The audio-based control method presented in this paper relies on the sound signal energy measured by two microphones. By combining the interchannel level difference to the acoustic absolute energy level, the control scheme allows positioning the robot with respect to the sound source at a given distance and orientation. Moreover this method has the benefit of a low computation cost, since it only relies on the signal energy measurement. Experimental results conducted on a mobile robot validate the relevance and the robustness of this approach in dynamic and real world conditions.
Type de document :
Communication dans un congrès
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'16, Oct 2016, Daejeon, South Korea. pp.1992-1999, 2016
Liste complète des métadonnées

Littérature citée [17 références]  Voir  Masquer  Télécharger
https://hal.inria.fr/hal-01355394
Contributeur : Eric Marchand <>
Soumis le : mardi 23 août 2016 - 14:09:52
Dernière modification le : mercredi 16 mai 2018 - 11:24:07
Document(s) archivé(s) le : jeudi 24 novembre 2016 - 12:44:43

Fichier

2016_iros_magassouba.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-01355394, version 1

Collections

INRIA | IRISA | CENTRALESUPELEC | UR1-UFR-ISTIC | UNIV-RENNES

Citation

Aly Magassouba, Nancy Bertin, François Chaumette. Audio-based robot control from interchannel level difference and absolute sound energy. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'16, Oct 2016, Daejeon, South Korea. pp.1992-1999, 2016. 〈hal-01355394〉

Exporter

BibTeX TEI DC DCterms EndNote

Partager

Métriques

Consultations de la notice

740

Téléchargements de fichiers

87

Contact


archive-ouverte@inria.fr