Humanoid active audition system improved by the cover acoustics

Kazuhiro Nakadai, Hiroshi G. Okuno, Hiroaki Kitano

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

6 Citations (Scopus)

Abstract

Perception system for humanoid should be active, e.g., by moving its body or controlling parameters of sensors such as cameras or microphones, to perceive environments better. This paper focuses on active audition, whose main problem is to suppress internal sounds made by humanoid movements. Otherwise, such sounds would deteriorate the performance of auditory processing. Our 4-degree-of-freedom (DOF) humanoid, called SIG, has a cover to enclose internal sounds from the outside. SIG has a pair of left and right microphones to collect internal sounds and another pair to collect external sounds originating from the outside of SIG. A simple strategy of choosing a subband of external sounds if sounds from internal microphones in the same subband is weaker than those from external microphones sometimes fails in internal sound cancellation due to resonance within the cover. In this paper, we report the design of internal sound cancellation system to enhance external sounds. First, the acoustic characteristic of the humanoid cover is measured to make a model of each motor movement. Then, an adaptive filter is designed based on the model by taking movement commands into accounts. Experiments show that this cancellation system enhances external sounds and SIG can track and localize sound sources during its movement.

Original languageEnglish
Title of host publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Pages544-554
Number of pages11
Volume1886 LNAI
Publication statusPublished - 2000
Externally publishedYes
Event6th Pacific Rim International Conference on Artificial Intelligence, PRICAI 2000 - Melbourne, VIC
Duration: 2000 Aug 282000 Sep 1

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume1886 LNAI
ISSN (Print)03029743
ISSN (Electronic)16113349

Other

Other6th Pacific Rim International Conference on Artificial Intelligence, PRICAI 2000
CityMelbourne, VIC
Period00/8/2800/9/1

Fingerprint

Audition
Acoustics
Acoustic waves
Cover
Microphones
Internal
Cancellation
Sound
Adaptive Filter
Adaptive filters
Camera
Degree of freedom
Cameras

Keywords

  • Active audition
  • Cognitive modelling
  • Robotics

ASJC Scopus subject areas

  • Computer Science(all)
  • Theoretical Computer Science

Cite this

Nakadai, K., Okuno, H. G., & Kitano, H. (2000). Humanoid active audition system improved by the cover acoustics. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 1886 LNAI, pp. 544-554). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 1886 LNAI).

Humanoid active audition system improved by the cover acoustics. / Nakadai, Kazuhiro; Okuno, Hiroshi G.; Kitano, Hiroaki.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 1886 LNAI 2000. p. 544-554 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 1886 LNAI).

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

Nakadai, K, Okuno, HG & Kitano, H 2000, Humanoid active audition system improved by the cover acoustics. in Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). vol. 1886 LNAI, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 1886 LNAI, pp. 544-554, 6th Pacific Rim International Conference on Artificial Intelligence, PRICAI 2000, Melbourne, VIC, 00/8/28.
Nakadai K, Okuno HG, Kitano H. Humanoid active audition system improved by the cover acoustics. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 1886 LNAI. 2000. p. 544-554. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
Nakadai, Kazuhiro ; Okuno, Hiroshi G. ; Kitano, Hiroaki. / Humanoid active audition system improved by the cover acoustics. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vol. 1886 LNAI 2000. pp. 544-554 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
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