Robotic Orientation towards Speaker for Human-Robot Interaction

Rascón, Caleb; Avilés, Héctor; Pineda, Luis A.

doi:10.1007/978-3-642-16952-6_2

Cited by 3 publications

(3 citation statements)

References 17 publications

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“…ASL is an active research topic and has been applied in various speakertracking applications, ranging from source localization microsensor [13], camera pointing system for video conferencing [14] to sound localization module in robots. The multi-modal humanoid robot, CB, [15], and the service robot, Golem, [16] are the two examples of robot that use ASL for enhancing the interactivity.…”

Section: A Review On Acoustic Source Localizationmentioning

confidence: 99%

Speaker tracking module for indoor robot navigation

Teachasrisaksakul

Iemcha-od

Thiemjarus

et al. 2012

2012 9th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technolog

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The goal of this study is to equip a mobile service robot with an ability to navigate to the human who commands the robot by speech. This paper proposes a Bayesian approach to sound source localization for speaker tracking module. Based on time delay of arrival (TDOA) features, sound source direction is classified using a naïve Bayesian network. The method requires low computational complexity and is feasible for real-time robot navigation. Based on an experiment with various parameter settings in an indoor environment, different factors that affect the classification accuracy have been analyzed. Further validation on a human speaker with random sound volumes and positions illustrates that the proposed method can work efficiently in real-world environments.

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Section: A Review On Acoustic Source Localizationmentioning

confidence: 99%

Speaker tracking module for indoor robot navigation

Teachasrisaksakul

Iemcha-od

Thiemjarus

et al. 2012

2012 9th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technolog

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“…The initial DOA estimation is carried out by the technique described in [26]. It avoids the problems that arise when estimating a DOA using ID microphones arrays, and maintains a relatively light hardware setup: an equilateral-triangular array, positioned over the horizontal top panel of the robot, as shown in Figure 3 (which has a top view of the microphone array).…”

Section: Technical Aspects Of Multi-doa Estimation On Golem Ii+mentioning

confidence: 99%

Integration of the Multi-DOA Estimation Functionality to Human-Robot Interaction

Rascón

Meza

Fuentes

et al. 2015

International Journal of Advanced Robotic Systems

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Sound source localization is important in human interaction, such as in locating the origin of long-distance calls or facing other humans while in a conversation. It is of interest to apply such functionality to the core of human-robot interaction (HRI) and investigate its benefits, if any. In this paper, we propose three strategies for how to integrate the functionality of multiple directions-of-arrival (multi-DOA) estimation with a common scenario, in which the robot acts as a waiter while applying audio source localization. The proposed strategies are: a) the robot locates calls from users at a relatively long distance; b) the robot faces the user when taking the order; and c) the robot announces whether the acoustic environment is not conducive to understanding a speech command (mainly where more than one user speaks at once). It was seen that users react favourably to the functionality, and that it even has a noticeable influence on the success of the interaction.

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“…6. User localization is carried out via audio using a triangular microphone array audio-localization system [40].…”

Section: Dialogue Models and The Cognitive Architecturementioning

confidence: 99%

SitLog: A Programming Language for Service Robot Tasks

Pineda

Salinas

Meza

et al. 2013

International Journal of Advanced Robotic Systems

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In this paper we present SitLog: a declarative situation-oriented logical language for programming situated service robot tasks. The formalism is task and domain independent, and can be used in a wide variety of settings. SitLog can also be seen as a behaviour engineering specification and interpretation formalism to support action selection by autonomous agents during the execution of complex tasks. The language combines the recursive transition network formalism, extended with functions to express dynamic and contextualized task structures, with a functional language to express control and content information. The SitLog interpreter is written in Prolog and SitLog's programs follow closely the Prolog notation, permitting the declarative specification and direct interpretation of complex applications in a modular and compact form. We discuss the structure and representation of service robot tasks in practical settings and how these can be expressed in SitLog. The present framework has been tested in the service robot Golem-II+ using the specification and programming of the typical tasks which require completion in the RoboCup@Home Competition.

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Robotic Orientation towards Speaker for Human-Robot Interaction

Cited by 3 publications

References 17 publications

Speaker tracking module for indoor robot navigation

Speaker tracking module for indoor robot navigation

Integration of the Multi-DOA Estimation Functionality to Human-Robot Interaction

SitLog: A Programming Language for Service Robot Tasks

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