Active audition system and humanoid exterior design
Active audition system and humanoid exterior design
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主动试听系统和人形外观设计
DOI：
10.1109/iros.2000.893225
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发表时间：
2000
期刊：
影响因子：
--
通讯作者：
H. Kitano
中科院分区：
文献类型：
--
作者：
K. Nakadai;Tatsuya Matsui;HIroshi G. Okuno;H. Kitano
我们提出了一种利用仿人盖声学和工业外观设计的盖设计来改进噪声消除的仿人主动听力系统。对于主动听力来说，区分内部声音(如马达噪音)和来自外部世界的声音是一个重要的问题。重要的是，在人形机器人运动时，不可避免的电机噪音应该被消除。因此，类人需要外部消除这种内部噪音，因为它将类人的内部世界与外部世界分开。我们报道了一种主动听力系统，该系统利用人形盖子的声音分离，通过整合听力、视觉和运动动作来跟踪声源。实验表明，仿人机器人能够更准确地跟踪和定位声源，但噪声并不总是被最优抵消，需要进一步改进。
We present a humanoid active audition system with improved noise cancellation using humanoid cover acoustics and the cover design for an industrial exterior design. For active audition, it is an important problem to distinguish between the internal sounds like motor noises and sounds which originate from the outer world. It is important that inevitable motor noise is cancelled while the humanoid is in motion. Therefore, humanoids require the exterior to cancel such internal noises because it separates humanoid inner world from the outer world. We report an active audition system focused on the sound source tracking by integrating audition, vision and motor movements using sound separation of the humanoid cover. The experiments show that the humanoid can track and localize sound sources more accurately, the noise cannot always be cancelled out optimally and further improvements are required.