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To realize hyper dynamic manipulations such as jumping, authors propose the utilization of dynamically-coupled driving and joint stop mechanisms in a small commercial humanoid. To realize difficult dynamic actions such as vertical jumping by utilizing joint stop mechanisms, the motion planning for jumping has been performed based on a model with joint stop mechanisms into the legs. The modeling, motion...
While a robot is moving, the joints inevitably generate noise due to its motors, i.e. ego-motion noise. This problem is very crucial, especially in humanoid robots, because it tends to have a lot of joints and the motors are located closer to the microphones than the sound sources. In this work, we investigate methods for the prediction and suppression of the ego-motion noise. In the first part, we...
This paper proposes real-time sound source orientation estimation based on orientation-extended amplitude beamforming (OE-ABF). To recognize a sound source orientation (such as face orientation) is an important function for a robot who can achieve natural human-robot interaction because the function is required to distinguish the human target from a robot or another person. We developed a sound source...
As robotic technology plays an increasing role in human lives, ??robot audition??, human-robot communication, is of great interest, and robot audition needs to be robust and adaptable for dynamic environments. This paper addresses sound source localization working in dynamic environments for robots. Previously, noise robustness and dynamic localized sound selection have been enormous issues for practical...
This paper addresses sound source separation and speech recognition for moving sound sources. Real-world applications such as robots should cope with both moving and stationary sound sources. However, most studies assume only stationary sound sources. We introduce two key techniques to cope with moving sources, that is, Adaptive Step-size control (AS) and Optima Controlled Recursive Average (OCRA)...
The applicative field of activities of robots who have only one locomotion strategy is limited. As means of enhancing the mobile range, it is necessary to have various locomotion modes. Therefore, we focus on dynamic transitions between several kinds of locomotion modes adapting to environmental changes. In this paper, we aim to realize stable locomotion along some unknown test courses consisting...
This paper introduces a vertical ladder climbing of the humanoid robot only by the posture control without any external sensors. The humanoid robot does not have any special structure for fixing the body to the ladder. The robot maintains the body on the ladder by its grippers like human does. As a problem of this locomotion, a free gripper position of the climbing robot is not controllable because...
An animal has a characteristic ratio of forefoot and rear legs so that its morphology can adapt to the living environment. Likewise, the structure of robot should be better fitted the locomotion in the working environment. This paper derives an optimal structure of the quadruped robot, which minimizes the sum of joint torques of the robot. Minimization of the joint torque allows to reduce the joint...
This paper describes a novel sound source separation method for a robot that needs to cope with dynamically changing noises in the real world. The sound source separation method, Geometric Source Separation (GSS), is promising because it has high separation performance and requires low computational cost. One of the most important factors in GSS performance is a step-size parameter to update a separation...
Musical beat tracking is one of the effective technologies for human-robot interaction such as musical sessions. Since such interaction should be performed in various environments in a natural way, musical beat tracking for a robot should cope with noise sources such as environmental noise, its own motor noises, and self voices, by using its own microphone. This paper addresses a musical beat tracking...
This paper describes a robot referee for "rock- paper-scissors (RPS)" sound games; the robot decides the winner from a combination of rock, paper and scissors uttered by two or three people simultaneously without using any visual information. In this referee task, the robot has to cope with speech with low signal-to-noise ratio (SNR) due to a mixture of speeches, robot motor noises, and...
This paper describes a control for the brachiation robot with holonomic constraint. In our previous work, the brachiation controller is composed of two actions: swing-back and locomotion. The purpose of swing-back is to excite a robot so as to achieve the locomotion successfully, while locomotion action is to move forward by releasing the ladder with the backward arm in the direction of locomotion...
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