Related papers: Accelerating Audio Research with Robotic Dummy Hea…
While thinking aloud has been reported to positively affect problem-solving, the effects of the presence of an embodied entity (e.g., a social robot) to whom words can be directed remain mostly unexplored. In this work, we investigated the…
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…
Spoken language interaction is at the heart of interpersonal communication, and people flexibly adapt their speech to different individuals and environments. It is surprising that robots, and by extension other digital devices, are not…
We address the challenge of making spatial audio datasets by proposing a shared mechanized recording space that can run custom acoustic experiments: a Mechatronic Acoustic Research System (MARS). To accommodate a wide variety of…
Robotic assistants reduce the manual efforts being put in by humans in their day-to-day tasks. In this paper, we develop a voice-controlled personal assistant robot. The robot takes the human voice commands by its own built-in microphone.…
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…
Natural human-robot interaction in complex and unpredictable environments is one of the main research lines in robotics. In typical real-world scenarios, humans are at some distance from the robot and the acquired signals are strongly…
How should a robot speak in a formal, quiet and dark, or a bright, lively and noisy environment? By designing robots to speak in a more social and ambient-appropriate manner we can improve perceived awareness and intelligence for these…
In the rapidly evolving landscape of human-robot collaboration, effective communication between humans and robots is crucial for complex task execution. Traditional request-response systems often lack naturalness and may hinder efficiency.…
The availability of realistic simulated corpora is of key importance for the future progress of distant speech recognition technology. The reliability, flexibility and low computational cost of a data simulation process may ultimately allow…
Recent advancements in quadruped robot research have significantly improved their ability to traverse complex and unstructured outdoor environments. However, the issue of noise generated during locomotion is generally overlooked, which is…
Learning to produce contact-rich, dynamic behaviors from raw sensory data has been a longstanding challenge in robotics. Prominent approaches primarily focus on using visual or tactile sensing, where unfortunately one fails to capture…
Current research in robotic sounds generally focuses on either masking the consequential sound produced by the robot or on sonifying data about the robot to create a synthetic robot sound. We propose to capture, modify, and utilise rather…
Perception in robot manipulation has been actively explored with the goal of advancing and integrating vision and touch for global and local feature extraction. However, it is difficult to perceive certain object internal states, and the…
To achieve human-like behaviour during speech interactions, it is necessary for a humanoid robot to estimate the location of a human talker. Here, we present a method to optimize the parameters used for the direction of arrival (DOA)…
World models have demonstrated impressive performance on robotic learning tasks. Many such tasks inherently demand multimodal reasoning; for example, filling a bottle with water will lead to visual information alone being ambiguous or…
Human-like environment recognition by musculoskeletal humanoids is important for task realization in real complex environments and for use as dummies for test subjects. Humans integrate various sensory information to perceive their…
How easy is it to sneak up on a robot? We examine whether we can detect people using only the incidental sounds they produce as they move, even when they try to be quiet. We collect a robotic dataset of high-quality 4-channel audio paired…
Humanoid robots have seen remarkable advances in dexterity, balance, and locomotion, yet their role in expressive domains such as music performance remains largely unexplored. Musical tasks, like drumming, present unique challenges,…
As for the humanoid robots, the internal noise, which is generated by motors, fans and mechanical components when the robot is moving or shaking its body, severely degrades the performance of the speech recognition accuracy. In this paper,…