A Sound Source Tracking Humanoid Robotic Platform: Design and Architecture
2023 5th International Conference on Bio-engineering for Smart Technologies (BioSMART)(2023)
摘要
Sound source localization is an active field of research with multiple paradigms of sound acquisition and processing. The design of a motorized platform for sound source tracking is presented and discussed in this paper, showing its components and operation. It consists of a humanoid head equipped with microphones and actuated by servomotors to have the orientation towards a source emitting sound in its environment. The design is inspired from the human binaural audition but extends to 4 microphones in order to allow an efficient estimation of the sound direction of arrival in horizontal and vertical planes.
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关键词
humanoid robotics,sound source localization,robot audition,interaural differences,human-robot interaction
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