Active audition with active pinnae

2011 Fiscal Year Final Research Report

• Project/Area Number: 22700183
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Single-year Grants
• Research Field: Perception information processing/Intelligent robotics
• Research Institution: Kumamoto University
• Principal Investigator: KUMON Makoto 熊本大学, 大学院・自然科学研究科, 准教授 (70332864)
• Project Period (FY): 2010 – 2011
• Keywords: 能動耳介 / 音源定位 / アクティブオーディション

Research Abstract

Active external ears system inspired from animals, or active pinnae, for auditory robots has been studied, and fundamentals of the system for sound localization to find the direction of sound sources were investigated. Actual active pinnae system was developed and its kinematic and acoustic characteristics were analyzed, and binaural sound direction estimation method and active motion planning for auditory robots were proposed.

Research Products

• [Journal Article] Active Soft Pinnae for Robots (2011)
  • Author(s): Makoto Kumon and Yoshitaka Noda
  • Journal Title: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems Pages: 112-117
  • DOI: doi:10.1109/IROS.2011.6094619
  • Peer Reviewed
• [Journal Article] Binaural Localization for a Mobile Sound Source (2011)
  • Author(s): Makoto Kumon and Shuji Uozumi
  • Journal Title: Journal of Biomechanical Science and Engineering Volume: Vol.6, No.1 Pages: 26-39
  • Peer Reviewed
• [Journal Article] Motion planning based on Simultaneous Perturbation Stochastic Approximation for Mobile Auditory Robots (2010)
  • Author(s): Makoto Kumon, et. al
  • Journal Title: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems Pages: 431-436
  • DOI: doi:10.1109/IROS.2010.5649244
  • Peer Reviewed
• [Presentation] 移動に伴う測域センサ情報の歪み補正 (2011)
  • Author(s): 江川知宏, 公文誠
  • Organizer: 第12回計測自動制御学会システムインテグレーション部門講演会論文集
  • Place of Presentation: 京都大学(京都)
  • Year and Date: 2011-12-23
• [Presentation] 耳介を持つバイノーラル聴覚ロボットの音源方向推定の検討 (2011)
  • Author(s): 公文誠, 木元大輔
  • Organizer: 人工知能学会AIチャレンジ研究会
  • URL: http://winnie.kuis.kyoto-u.ac.jp/sig-challenge/SIG-Challenge-B102/B102-11.pdf
  • Place of Presentation: 慶応大学(東京)
  • Year and Date: 2011-12-15
• [Presentation] バイノーラル聴覚ロボットを用いた頭部回転による音源の位置推定 (2011)
  • Author(s): 魚住守治, 公文誠
  • Organizer: 第29回日本ロボット学会学術講演会
  • Place of Presentation: 芝浦工業大学(東京)
  • Year and Date: 2011-09-09
• [Presentation] バイノーラル聴覚ロボットによる移動音源の位置・速度推定における動作計画 (2010)
  • Author(s): 魚住守治, 公文誠
  • Organizer: 第28回日本ロボット学会学術講演会
  • Place of Presentation: 名古屋工業大学
  • Year and Date: 2010-11-26
• [Presentation] 能動人工耳介 (2010)
  • Author(s): 公文誠, 野田佳孝, 魚住守治
  • Organizer: 人工知能学会AIチャレンジ研究会
  • URL: http://winnie.kuis.kyoto-u.ac.jp/SIG-Challenge/SIG-Challenge-B002/B002-9.pdf
  • Place of Presentation: 京都大学(京都)
  • Year and Date: 2010-09-22