Aural servo: sensor-based control from robot audition

Aly Magassouba (1) , Nancy Bertin (2) , François Chaumette (1)

1 RAINBOW - Sensor-based and interactive robotics
2 PANAMA - Parcimonie et Nouveaux Algorithmes pour le Signal et la Modélisation Audio

This paper proposes a control framework based on auditory perception. Generally, in robot audition, the motion control of a robot from the sense of hearing relies on sound source localization. We propose in this paper an alternative approach, aural servo, that is derived from the sensor-based control framework. In this approach, robot motions are directly connected to the aural perception: the variation of low-level auditory features dictates the motions applied to the robot through a feedback loop. It has the advantage of being robust to spurious measurements and modeling approximations for a low computational cost. This paper presents the theoretical concept of the aural servo framework. Besides a theoretical analysis, the aural servo framework is validated through several experiments on different robotic platforms and under real-world conditions.

Mots clés: sensor-based control; interaural level difference (ILD); Robot audition; interaural time difference (ITD)

Domaines: Robotique [cs.RO]

Aly Magassouba, Nancy Bertin, François Chaumette. Aural servo: sensor-based control from robot audition. IEEE Transactions on Robotics, 2018, 34 (3), pp.572-585. ⟨10.1109/TRO.2018.2805310⟩. ⟨hal-01694366⟩