JRM Vol.19 No.3 pp. 281-289
doi: 10.20965/jrm.2007.p0281


Sound Localization and Separation for Mobile Robot Tele-Operation by Tri-Concentric Microphone Array

Yoko Sasaki*,**, Saori Masunaga**,***, Simon Thompson**,
Satoshi Kagami*,**,****, and Hiroshi Mizoguchi*,**

*Dept. of Mechanical Engineering, Tokyo University of Science, 2641 Yamazaki, Noda-shi, Chiba, Japan

**Digital Human Research Center, National Institute of Advanced Science and Technology, 2-41-6 Aomi, Kouto-ku, Tokyo 135-0064, Japan

***Graduation School of Information Science, Nara Institute of Science and Technology, 8916-5 Takayama-cho, Ikoma-shi, Nara, Japan

****CREST Program, Japan Science and Technology Corporation (JST)

October 24, 2006
April 12, 2007
June 20, 2007
microphone array, sound localization and separation, tele-operated mobile robot
The paper describes a tele-operated mobile robot system which can perform multiple sound source localization and separation using a 32-channel tri-concentric microphone array. Tele-operated mobile robots require two main capabilities: 1) audio/visual presentation of the robot’s environment to the operator, and 2) autonomy for mobility. This paper focuses on the auditory system of a tele-operated mobile robot in order to improve both the presentation of sound sources to the operator and also to facilitate autonomous robot actions. The auditory system is based on a 32-channel distributed microphone array that uses highly efficient directional design for localizing and separating multiple moving sound sources. Experimental results demonstrate the feasibility of inter-person distant communication through the tele-operated robot system.
Cite this article as:
Y. Sasaki, S. Masunaga, S. Thompson, S. Kagami, and H. Mizoguchi, “Sound Localization and Separation for Mobile Robot Tele-Operation by Tri-Concentric Microphone Array,” J. Robot. Mechatron., Vol.19 No.3, pp. 281-289, 2007.
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