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On dynamics of robot audition

Research Project

Project/Area Number 19700193
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeSingle-year Grants
Research Field Perception information processing/Intelligent robotics
Research InstitutionKumamoto University

Principal Investigator

KUMON Makoto  Kumamoto University, 大学院・自然科学研究科, 准教授 (70332864)

Project Period (FY) 2007 – 2008
Project Status Completed (Fiscal Year 2008)
Budget Amount *help
¥3,090,000 (Direct Cost: ¥2,700,000、Indirect Cost: ¥390,000)
Fiscal Year 2008: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2007: ¥1,400,000 (Direct Cost: ¥1,400,000)
Keywords知能ロボティクス / 制御工学 / 機械力学・制御 / 知能ロボティックス
Research Abstract

ダイナミックな聴覚はロボットにおいても有用であると考えられるが,ロボットのダイナミクスは複雑で,必ずしも望ましい特性だけが得られるとは限らない.本課題ではロボット聴覚の身体の動作制御の観点に着目し,不確かなダイナミクスの下でも適応制御によって音源定位性能が改善することを示した.バイノーラルな聴覚ロボットの聴覚特性モデルも検討し,センサモデルが非正規分布になること,このモデルによって動的な音源定位において性能が改善することを示した.
また,汎用的な移動聴覚プラットフォームを開発し安定した移動制御手法についても開発した.

Report

(3 results)
  • 2008 Annual Research Report   Final Research Report ( PDF )
  • 2007 Annual Research Report
  • Research Products

    (14 results)

All 2008 2007 Other

All Journal Article (6 results) (of which Peer Reviewed: 6 results) Presentation (5 results) Book (2 results) Remarks (1 results)

  • [Journal Article] 障害物回避を考慮した冗長ロボットの経路追従における規範速度生成2008

    • Author(s)
      瀬戸山貴嗣,公文誠,水本郁朗,岩井善太
    • Journal Title

      日本機械学会論文集(C編) Vol.74,No.737

      Pages: 108-114

    • NAID

      110006571986

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Path following control of mobile robots using dynamic parametrization based on Zero Moment Point criteria2008

    • Author(s)
      M. Kumon, T. Setoyama and M. Ishitobi
    • Journal Title

      in Proceedings of International Symposium on Advanced Control of Industrial Processes(ADCONIP 2008), Edmonton, May

      Pages: 166-171

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Path following control of mobile robots using dynamic parametrization based on Zero Moment Point criteria2008

    • Author(s)
      Makoto KUMON
    • Journal Title

      Proc. of 2008 International Symposium on Advanc ed Control of Industrial Processes

      Pages: 166-171

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 障害物回避を考慮した冗長ロボットの経路追従における規範速度生成2008

    • Author(s)
      瀬戸山貴嗣
    • Journal Title

      日本機械学会論文集(C編) 74-737

      Pages: 108-114

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Sound Source Classification using Support Vector Machine2007

    • Author(s)
      M. Kumon, Y. Ito, T. Nakashima, T. Shimoda, M. Ishitobi
    • Journal Title

      in Preprints of the 9th IFAC Workshop : Adaptation and Learning in Control and Signal Processing, St. Petersburg, Aug Vol.9, Part.1

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Stereo Sound Field Controller Design Using Partial Model Matching on the Frequency Domain2007

    • Author(s)
      Makoto Kumon
    • Journal Title

      J. Advanced Mechanical Design, Systems, and Manufacturing 1-1

      Pages: 170-180

    • NAID

      130000080508

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Presentation] 単純適応制御による適応オーディオサーボ系2008

    • Author(s)
      公文誠,江藤智史,伊藤卓,國松禎明,石飛光章
    • Organizer
      第26回日本ロボット学会学術講演会予稿集CD-ROM,RSJ2008AC1A2-05
    • Place of Presentation
      神戸
    • Year and Date
      2008-09-09
    • Related Report
      2008 Final Research Report
  • [Presentation] 単純適応制御による適応オーディオサーボ系2008

    • Author(s)
      公文誠
    • Organizer
      日本ロボット学会学術講演会
    • Place of Presentation
      神戸大学
    • Year and Date
      2008-09-09
    • Related Report
      2008 Annual Research Report
  • [Presentation] オーディオサーボを用いた音源位置同定2007

    • Author(s)
      中島徹,伊藤良浩,公文誠,國松禎明,石飛光章
    • Organizer
      第25回日本ロボット学会学術講演会予稿集CD-ROM,1N1
    • Place of Presentation
      千葉
    • Year and Date
      2007-09-13
    • Related Report
      2008 Final Research Report
  • [Presentation] オーディオサーボを用いた音源位置同定2007

    • Author(s)
      中島徹
    • Organizer
      第25回日本ロボット学会学術講演会
    • Place of Presentation
      千葉
    • Year and Date
      2007-09-13
    • Related Report
      2007 Annual Research Report
  • [Presentation] Sound Source Classification using Support Vector Machine2007

    • Author(s)
      Makoto Kumon
    • Organizer
      The 9th IFAC Workshop: Adaptation and Learning in Control and Signal Processing
    • Place of Presentation
      St. Petersburg, Russia
    • Year and Date
      2007-08-31
    • Related Report
      2007 Annual Research Report
  • [Book] "Sound Localization of Elevation using Pinnae for Auditory Robots" in "Robust Speech Recognition andUnderstanding"2007

    • Author(s)
      T. Shimoda, T. Nakashima, M. Kumon, R. Kohzawa, I. Mizumoto and Z. Iwai
    • Publisher
      ISBN I-Tech,Vienna, Austria(Michael Grimm and Kristian Kroschel)
    • Related Report
      2008 Final Research Report
  • [Book] Sound Localization of Elevation using Pinnae for Auditory Robots in Robust Speech Recognition and Understanding(分担)2007

    • Author(s)
      Tomoko Shimoda
    • Publisher
      I-Tech Education and Publishing
    • Related Report
      2007 Annual Research Report
  • [Remarks] 特集記事,日刊工業新聞(2007年11月27日)

    • Related Report
      2008 Final Research Report

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Published: 2007-04-01   Modified: 2016-04-21  

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