Active Soft Pinnae for Robots
Active Soft Pinnae for Robots
复制标题
机器人主动软耳廓
DOI：
10.1109/iros.2011.6094619
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
Makoto Kumon and Yoshitaka Noda
中科院分区：
文献类型：
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作者：
横山幸大;眞田忠;奥野弘嗣;八木哲也;Makoto Kumon and Yoshitaka Noda
声音定位是听觉机器人的基本能力之一，是人机交流所必需的。特别是对于自主机器人，也有必要使系统尽可能简单，双耳配置被认为是听觉系统的最小设置，因为动物通过两只耳朵实现实际听力。然而，耳朵数量的限制导致声音定位精度或声源分离等性能不足。为了克服这些困难，本文提出了一种新颖的人工软耳廓，它可以主动移动或变形。发达的耳廓有一层可变形的硅橡胶皮，上面有由马达控制的电线，并覆盖着一层皮毛。考虑到所提出的装置在听觉机器人中的应用，通过实验研究了运动精度和听觉特性等基本特性，这是本文的主要贡献。
Sound localization is one of fundamental abilities of auditory robots that is necessary for human-machine communication. Especially for autonomous robots, it is also necessary to make the system as simple as possible, and binaural configuration is thought to be the minimum setup for auditory systems as animals achieve practical hearing with two ears. However, the limitation of the number of ears leads insufficient performance such as accuracy in sound localization, or sound source separation. In order to overcome those difficulties, this paper proposes a novel artificial soft pinna that can move, or deform its shape actively. The developed pinna has deformable skin of silicon rubber with wires controlled by motors, and it is covered by a fur cover. Considering applications of the proposed device for auditory robots, fundamental characteristics such as accuracy of motion and auditory characteristics were investigated through experiments, which is the main contribution of the paper.