Combining ubiquitous and on-board audio sensing for human-robot interaction

Authors:
Simon Thompson;Satoshi Kagami;Yoko Sasaki;Yoshifumi Nishida;Tadashi Enomoto;Hiroshi Mizoguchi
Affiliations:
Digital Human Research Center, AIST, Tokyo, Japan;Digital Human Research Center, AIST, Tokyo, Japan;Digital Human Research Center, AIST, Tokyo, Japan;Digital Human Research Center, AIST, Tokyo, Japan;Kansai Electric Power, Company, Inc.;Tokyo University of Science, Chiba, Japan
Venue:
Proceedings of the ACM/IEEE international conference on Human-robot interaction
Year:
2007

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Abstract

This paper reports on the development of a mobile robot system for operation within a house equipped with a ubiquitous sensor network.Human robot interaction is achieved through the combination of on-robot audio and laser range sensing and additional audio sensors mounted in the ceiling of the ubiquitous environment. The ceiling mounted microphone arrays can be used to summon a mobile robot from a location outside the robot's range of hearing. After the robot autonomously navigates to the desired location, the on-board microphone array can be used to locate the sound source and to recognise a series of greetings and commands.