Audio-based robot control from interchannel level difference and absolute sound energy

Magassouba, Aly; Bertin, Nancy; Chaumette, François

doi:10.1109/iros.2016.7759314

Cited by 10 publications

(22 citation statements)

References 15 publications

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“…is the velocity input of the system, e * describes a desired behavior of the error, while L + ρ is an approximation of L ρ the interaction matrix characterizing the relationship between the microphones motion and the ILD variation. The interaction matrix L ρ has been given in [15] as:…”

Section: A Control Schemementioning

confidence: 99%

“…3) Repercussion on ILD-based tasks: The former properties affect the task for which ρ = ρ * by requiring the microphones to be located in D. Indeed, since the area of D is infinite when ρ = 1, a task ρ = ρ * = 1 mainly consists in facing the sound source as exploited in [15]. This task does not constrain distance to the sound source (this is also clear from (9) and (10) since the component of L ρ related to v y is equal to 0 when ρ = 1).…”

Section: Relating Ild To Distancementioning

confidence: 99%

“…Subsequently, we introduce a control framework allowing to position a robot with respect to sound source range. Such a framework builds on our previous work [15] where we developed a binaural control system using ILD, that does not extract any azimuth angle. Based on sensorbased control, our approach allowing to control a robot with respect to (w.r.t.)…”

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confidence: 99%

“…This motion explicitly characterizes the relation between ILD and the direction since any variation of the microphone orientation w.r.t the sound source would modify the corresponding ILD. More details are given in [15]. As for the second vector v * M2 , it refers to a motion of the source X s on the circle C (see Fig.…”

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confidence: 99%

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Exploiting the Distance Information of the Interaural Level Difference for Binaural Robot Motion Control

Magassouba

Bertin

Chaumette

2018

IEEE Robot. Autom. Lett.

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This paper proposes a control framework allowing to position a robot in range and orientation with respect to a sound source from a binaural system. To this end, a sensorbased control framework is developed upon interaural level difference (ILD) cues. ILD is known to be implicitly related to the sound source azimuth but also to the sound source distance. We emphasize the latter property by introducing the concept of ILD annulus. Then a sensor-based task is designed in order to approach a sound source. This method is validated in simulation and in real world experiments performed on a humanoid robot. Index Terms-Robot Audition, Sensor-based Control I. INTRODUCTION I N robot audition, motion control from a binaural setup is generally based on the estimation of the azimuth and/or elevation angles through a localization paradigm. Distance estimation is seldom performed because of the complexity of this process compared to azimuth and elevation estimation. Range positioning is thus generally exploited by systems endowed with an array (i.e., > 2) of microphones, whether by using the interaural time difference (ITD) [1], [2], the interaural level difference (ILD) [3] or both cues [4]. However the latter approach remains out of the scope of this paper that focuses on binaural setups. Alternatively, in the field of active audition, distance is recovered by fusing acoustic measurements from different positions of the robot, as mostly performed in the state-of-theart of binaural robot audition [5], [6], [7], [8], [9]. In a different way, we develop in this paper a method that is rather inspired by psycho-acoustics literature related to distance estimation by human listeners. Several studies [10], [11], [12] performed on human subjects demonstrate that binaural cues do not only convey orientation information but also distance. In particular, a correlation between ILD variation and distance has been exhibited: ILD increases rapidly when approaching a sound source in the near-field. In robot audition, such results are exploited in [13], where distance is estimated from a prelearned sequence of features/distance bins. More specifically, relevant results based on ILD are shown for sound sources

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Section: A Control Schemementioning

confidence: 99%

Section: Relating Ild To Distancementioning

confidence: 99%

mentioning

confidence: 99%

mentioning

confidence: 99%

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Exploiting the Distance Information of the Interaural Level Difference for Binaural Robot Motion Control

Magassouba

Bertin

Chaumette

2018

IEEE Robot. Autom. Lett.

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“…On its most fundamental form, it can trace back its origins to the servomechanism problem [1]. Some common examples are visual servoing [2], tactile/force servoing [3,4], proximity servoing [5], aural servoing [6], deformation/shape servoing [7,8], to name a few cases.…”

Section: Introductionmentioning

confidence: 99%

On Model Adaptation for Sensorimotor Control of Robots

Navarro-Alarcon

Cherubini

2019

2019 Chinese Control Conference (CCC)

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In this article, we address the problem of computing adaptive sensorimotor models that can be used for guiding the motion of robotic systems with uncertain action-to-perception relations. The formulation of the uncalibrated sensor-based control problem is first presented, then, various computational methods for building adaptive sensorimotor models are derived and analysed. The proposed methodology is exemplified with two cases of study: (i) shape control of deformable objects with unknown properties, and (ii) soft manipulation of ultrasonic probes with uncalibrated sensors.

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