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Aural servo: sensor-based control from robot audition

Aly Magassouba 1 Nancy Bertin 2 François Chaumette 1
1 RAINBOW - Sensor-based and interactive robotics
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 proposes a control framework based on auditory perception. Generally, in robot audition, the motion control of a robot from the sense of hearing relies on sound source localization. We propose in this paper an alternative approach, aural servo, that is derived from the sensor-based control framework. In this approach, robot motions are directly connected to the aural perception: the variation of low-level auditory features dictates the motions applied to the robot through a feedback loop. It has the advantage of being robust to spurious measurements and modeling approximations for a low computational cost. This paper presents the theoretical concept of the aural servo framework. Besides a theoretical analysis, the aural servo framework is validated through several experiments on different robotic platforms and under real-world conditions.
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https://hal.inria.fr/hal-01694366
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Submitted on : Saturday, January 27, 2018 - 11:50:38 AM
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Aly Magassouba, Nancy Bertin, François Chaumette. Aural servo: sensor-based control from robot audition. IEEE Transactions on Robotics, Institute of Electrical and Electronics Engineers (IEEE), 2018, 34 (3), pp.572-585. ⟨10.1109/TRO.2018.2805310⟩. ⟨hal-01694366⟩

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