Enhanced robot audition by dynamic acoustic sensing in moving humanoids

  title={Enhanced robot audition by dynamic acoustic sensing in moving humanoids},
  author={Vladimir Tourbabin and Hendrik Barfuss and Boaz Rafaely and Walter Kellermann},
  journal={2015 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP)},
Auditory systems of humanoid robots usually acquire the surrounding sound field by means of microphone arrays. These arrays can undergo motion related to the robot's activity. The conventional approach to dealing with this motion is to stop the robot during sound acquisition. This approach avoids changing the positions of the microphones during the acquisition and reduces the robot's ego-noise. However, stopping the robot can interfere with the naturalness of its behaviour. Moreover, the… CONTINUE READING