机器人人工耳朵

Sungmok Hwang, K. Shin, Youngjin Park
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引用次数: 9

摘要

具有声音定位能力的机器人主要依靠机器视觉或由两个以上麦克风组成的阵列。人类可以用两只耳朵定位隐藏在眼睛之外的声源,并分辨声音是来自前方还是后方、上方还是下方。这主要是由于耳廓的复杂形状。特别是,当声源位置移动时,耳廓后壁反射在头部相关传递函数(HRTF)中产生不同频率的频谱缺口。从使用B&K HATS(头部和躯干模拟器)测量的非个体化HRTFs中,我们能够确认频谱缺口与鼻甲几何形状之间的关系。基于对HATS的耳廓和hrtf的观察,提出了一种可以安装在机器人头上的人工耳朵的新设计,以探索仅使用两个麦克风开发声音定位传感器的可能性。利用人工耳进行的实验结果表明,光谱凹痕在前区随海拔高度变化明显,而在后区则消失。鉴于这一结果,预计仅使用两个麦克风就可以在三维空间中精确定位声音方向,并且所设计的人造耳可以作为声源定位的合适机械传感器。
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Artificial Ear for Robots
Robots with sound localization capability have been developed mostly relying on machine vision or an array of more than two microphones. Humans can localize a sound source hidden to the eye and distinguish whether a sound is coming from front or rear, above or below with only two ears. This is mainly due to the complex shape of the pinna. In particular, reflections off the posterior wall of the concha produce spectral notches at different frequencies in the head-related transfer function (HRTF) as the sound source shifts in position. From the non-individualized HRTFs measured with a B&K HATS (head and torso simulator), we were able to confirm the relationship between the spectral notches and the geometry of the concha. Based on the observation of the HATS' pinna and resulting HRTFs, a novel design of artificial ear that can be mounted on a robot head is proposed in order to explore the possibility of developing sound localization sensors using only two microphones. Experimental results using a designed artificial ear show that the spectral notches are distinctively changed with respect to the elevation in the frontal region, whereas they disappear in the rear. In view of that result, it is expected to pinpoint a sound direction in 3-D space using only two microphones and the designed artificial ear can be a suitable mechanical sensor for sound source localization.
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