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Aural Servo: Sensor-Based Control From Robot Audition
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DOI：10.1109/TRO.2018.2805310.png)
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Abstract
En 中文
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, which 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.
Keywords:
Interaural level difference (ILD)
interaural time difference (ITD)
robot audition
sensor-based control
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