1,720,990 research outputs found
Control of Talking Heads in Humanoid Robotics by means of an Imitation Learning Algorithm
No full textPro-active service robots in a health care framework: vocal interaction using natural language and prosody
No full textRLS-based Sensor Fusion Algorithm for Mobile Robot Localization on Finite Precision Embedded Systems
No full textA genetic-fuzzy algorithm for the articulatory imitation of facial movements during vocalization of a humanoid robot
No full textIn human heads there is a strong structural linkage between vocal tract and facial behavior during speech. For a robotic talking head to have a human-like behavior, this linkage should be emulated. One way to do that is to compute an estimate of the articulatory features which produce a given utterance and then to transform them into facial animation. We present a computational model of human vocalization which is aimed at describing the articulatory mechanisms which produce spoken phonemes. It uses a set of fuzzy rules and genetic optimization. The former represents the relationships between places of articulations and speech acoustic parameters, while the latter estimates the degrees of membership of the places of articulation. That is, the places of articulation are considered as fuzzy sets whose degrees of membership are the articulatory features. The trajectories of articulatory parameters can be used to control a graphical or mechanical talking head. We verify the model presented here by generating and listening to artificial sentences. Subjective listening tests of artificially generated sentences from the articulatory description resulted in an average phonetic accuracy of about 79 %. Through the analysis of a large amount of natural speech, the algorithm can be used to learn the places of articulation of all phonemes of a given speaker
Algorithms for acoustic localization based on microphone array in service robotics
No full textThis paper deals with the development of acoustic source localization algorithms for service robots working in real conditions. One of the main utilizations of these algorithms in a mobile robot is that the robot can localize a human operator and eventually interact with him/herself by means of verbal commands. The location of a speaking operator is detected with a microphone array based algorithm; localization information is passed to a navigation module which sets up a navigation mission using knowledge of the environment map. In fact, the system we have developed aims at integrating acoustic, odometric and collision sensors with the mobile robot control architecture. Good performance with real acoustic data have been obtained using neural network approach with spectral subtraction and a noise robust voice activity detector. The experiments show that the average absolute localization error is about 40 cm at 0 dB and about 10 cm at 10 dB of SNR for the named localization. Experimental results describing mobile robot performance in a talker following task are reported
Visual scene analysis using relaxation labeling and embedded hidden markov models for map-based navigation
No full textOmni-directional non-visual perception for human interactions with service robots
No full textThe development of suitable tools for human-robot interaction is very important in the service robotics field. To this aim, in this paper we present a system to allows mobile robots to interact with human beings using non-visual perception. Our approach allows a human being to monitor the behaviors of a group of robots by means of non-visual perception using the acoustic channel. Thus, an acoustic localization is used as the basis for the non-visual interaction, while the non-visual perception is used also for multi-robot coordination.
In this context, humans can easily understand the robots’ messages by just listening to them. Some points related to this work are worth remarking here: first acoustic localization is used as the basis for the non-visual interaction. Second, non-visual perception has been also used for multi-robot navigation. Third, human-robot interaction is restricted to non-visual monitoring. The location of acoustic sources is detected using a circular microphone array installed on each robot and a neural network. The localization information is used for avoiding collision during the robots movements. However, the localization is perturbed by uncertainties; for this reason, fuzzy rules are used for finding collision-free path for the mobile robots
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