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Conference Papers Year : 2015

Sound-based control with two microphones

Abstract

— This paper presents a novel approach to robot audition by performing robotic tasks with auditory cues. Unlike many previous works, we propose a control scheme, that does not require any explicit sound source localization. This approach is capable of controlling all the three degrees of freedom in a plane from two microphones. Built upon the sensor-based control framework, this approach relies on implicit sound source direction obtained from the time difference of arrival (TDOA). We introduce an analytical modelling of auditory cues considering a robot equipped with a pair of microphones and multiple sound sources, from which a control scheme is designed. A stability analysis is provided as well. The results obtained in simulation show the feasibility and the suitability of this method even in reverberant area.
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Dates and versions

hal-01185841 , version 1 (21-08-2015)

Identifiers

  • HAL Id : hal-01185841 , version 1

Cite

Aly Magassouba, Nancy Bertin, François Chaumette. Sound-based control with two microphones. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'15, Sep 2015, Hamburg, Germany. pp.5568-5573. ⟨hal-01185841⟩
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