Imaging with electricity: how weakly electric fish might perceive objects
CNS '96 Proceedings of the annual conference on Computational neuroscience : trends in research, 1997: trends in research, 1997
Humanoid active audition system improved by the cover acoustics
PRICAI'00 Proceedings of the 6th Pacific Rim international conference on Artificial intelligence
Robust ego noise suppression of a robot
IEA/AIE'10 Proceedings of the 23rd international conference on Industrial engineering and other applications of applied intelligent systems - Volume Part I
Ego noise cancellation of a robot using missing feature masks
Applied Intelligence
EuroHaptics'12 Proceedings of the 2012 international conference on Haptics: perception, devices, mobility, and communication - Volume Part I
Jointonation: robotization of the human body by vibrotactile feedback
SIGGRAPH Asia 2013 Emerging Technologies
Hi-index | 0.00 |
While a robot is moving, the joints inevitably generate noise due to its motors, i.e. ego-motion noise. This problem is very crucial, especially in humanoid robots, because it tends to have a lot of joints and the motors are located closer to the microphones than the sound sources. In this work, we investigate methods for the prediction and suppression of the ego-motion noise. In the first part, we analyze the performance of different noise subtraction strategies, assuming that the noise prediction problem has been solved. In the second part, we present some results for a noise prediction scheme based on the current robot joint status. Performance is evaluated for a number of criteria, including Automatic Speech Recognition (ASR). We demonstrate that our method improves recognition performance during ego-motion considerably.