MRI-compatible hands-on cooperative control of a pneumatically actuated robot
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Lexical entrainment in human-robot interaction: can robots entrain human vocabulary?
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Field trial of networked social robots in a shopping mall
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A communication robot in a shopping mall
IEEE Transactions on Robotics
Entrainment of pointing gestures by robot motion
ICSR'10 Proceedings of the Second international conference on Social robotics
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The application range of communication robots could be widely expanded by the use of automatic speech recognition (ASR) systems with improved robustness for noise and for speakers of different ages. In past researches, several modules have been proposed and evaluated for improving the robustness of ASR systems in noisy environments. However, this performance might be degraded when applied to robots, due to problems caused by distant speech and the robot's own noise. In this paper, we implemented the individual modules in a humanoid robot, and evaluated the ASR performance in a real-world noisy environment for adults' and children's speech. The performance of each module was verified by adding different levels of real environment noise recorded in a cafeteria. Experimental results indicated that our ASR system could achieve over 80% word accuracy in 70-dBA noise. Further evaluation of adult speech recorded in a real noisy environment resulted in 73% word accuracy.