Related papers: Sound Matters: Auditory Detectability of Mobile Ro…
In this thesis, we propose an artificial auditory system that gives a robot the ability to locate and track sounds, as well as to separate simultaneous sound sources and recognising simultaneous speech. We demonstrate that it is possible to…
The hearing sense on a mobile robot is important because it is omnidirectional and it does not require direct line-of-sight with the sound source. Such capabilities can nicely complement vision to help localize a person or an interesting…
As autonomous robots become more common in public spaces, spontaneous encounters with laypersons are more frequent. For this, robots need to be equipped with communication strategies that enhance momentary transparency and reduce the…
We explore the interpretation of sound for robot decision making, inspired by human speech comprehension. While previous methods separate sound processing unit and robot controller, we propose an end-to-end deep neural network which…
Voice is an essential modality for human-robot interaction (HRI). The way a robot sounds plays a central role in shaping how humans perceive and engage with it, influencing factors such as intelligibility, understandability, and likability.…
As robots become increasingly prevalent in human environments, there will inevitably be times when a robot needs to interrupt a human to initiate an interaction. Our work introduces the first interruptibility-aware mobile robot system, and…
This study explores the significance of robot hearing systems, emphasizing their importance for robots operating in diverse and uncertain environments. It introduces the hardware design principles using robotaxis as an example, where…
Quadruped robots are currently used in industrial robotics as mechanical aid to automate several routine tasks. However, presently, the usage of such a robot in a domestic setting is still very much a part of the research. This paper…
Objective: Distorted loudness perception is one of the main complaints of hearing aid users. Being able to measure loudness perception correctly in the clinic is essential for fitting hearing aids. For this, experiments in the clinic should…
This work introduces a robotic dummy head that fuses the acoustic realism of conventional audiological mannequins with the mobility of robots. The proposed device is capable of moving, talking, and listening as people do, and can be used to…
Social robots are required not only to understand human intentions but also to effectively communicate their intentions or own internal states to users. This study explores the use of sonification to provide explicit auditory feedback,…
Audio-based pedestrian detection is a challenging task and has, thus far, only been explored in noise-limited environments. We present a new dataset, results, and a detailed analysis of the state-of-the-art in audio-based pedestrian…
Identification and localization of sounds are both integral parts of computational auditory scene analysis. Although each can be solved separately, the goal of forming coherent auditory objects and achieving a comprehensive spatial scene…
The environments in which the collaboration of a robot would be the most helpful to a person are frequently uncontrolled and cluttered with many objects present. Legible robot arm motion is crucial in tasks like these in order to avoid…
In the realm of robot action recognition, identifying distinct but spatially proximate arm movements using vision systems in noisy environments poses a significant challenge. This paper studies robot arm action recognition in noisy…
Accurate predictive turn-taking models (PTTMs) are essential for naturalistic human-robot interaction. However, little is known about their performance in noise. This study therefore explores PTTM performance in types of noise likely to be…
Cooperative transport, the simultaneous movement of an object by multiple agents, has been widely observed in biological systems such as ant colonies, which improve efficiency and adaptability in dynamic environments. Inspired by these…
A single mobile service robot may generate hundreds of encounters with pedestrians, yet there is little published data on the factors influencing these incidental human-robot encounters. We report the results of a between-subjects…
As social robots get more deeply integrated intoour everyday lives, they will be expected to engage in meaningful conversations and exhibit socio-emotionally intelligent listening behaviors when interacting with people. Active listening and…
In this paper, we propose a method to estimate the proximity of an acoustic reflector, e.g., a wall, using ego-noise, i.e., the noise produced by the moving parts of a listening robot. This is achieved by estimating the times of arrival of…