Audio-based robot control from interchannel level difference and absolute sound energyReport as inadecuate




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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.





Author: Aly Magassouba - Nancy Bertin - François Chaumette -

Source: https://hal.archives-ouvertes.fr/



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