An active audition framework for auditory-driven HRI: Application to interactive robot dancing

Joao Lobato Oliveira, Gokhan Ince, Keisuke Nakamura, Kazuhiro Nakadai, Hiroshi G. Okuno, Luis Paulo Reis, Fabien Gouyon

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

In this paper we propose a general active audition framework for auditory-driven Human-Robot Interaction (HRI). The proposed framework simultaneously processes speech and music on-the-fly, integrates perceptual models for robot audition, and supports verbal and non-verbal interactive communication by means of (pro)active behaviors. To ensure a reliable interaction, on top of the framework a behavior decision mechanism based on active audition policies the robot's actions according to the reliability of the acoustic signals for auditory processing. To validate the framework's application to general auditory-driven HRI, we propose the implementation of an interactive robot dancing system. This system integrates three preprocessing robot audition modules: sound source localization, sound source separation, and ego noise suppression; two modules for auditory perception: live audio beat tracking and automatic speech recognition; and multi-modal behaviors for verbal and non-verbal interaction: music-driven dancing and speech-driven dialoguing. To fully assess the system, we set up experimental and interactive real-world scenarios with highly dynamic acoustic conditions, and defined a set of evaluation criteria. The experimental tests revealed accurate and robust beat tracking and speech recognition, and convincing dance beat-synchrony. The interactive sessions confirmed the fundamental role of the behavior decision mechanism for actively maintaining a robust and natural human-robot interaction.

Original languageEnglish
Title of host publicationProceedings - IEEE International Workshop on Robot and Human Interactive Communication
Pages1078-1085
Number of pages8
DOIs
Publication statusPublished - 2012
Externally publishedYes
Event2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012 - Paris
Duration: 2012 Sep 92012 Sep 13

Other

Other2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012
CityParis
Period12/9/912/9/13

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ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Human-Computer Interaction

Cite this

Oliveira, J. L., Ince, G., Nakamura, K., Nakadai, K., Okuno, H. G., Reis, L. P., & Gouyon, F. (2012). An active audition framework for auditory-driven HRI: Application to interactive robot dancing. In Proceedings - IEEE International Workshop on Robot and Human Interactive Communication (pp. 1078-1085). [6343892] https://doi.org/10.1109/ROMAN.2012.6343892