skip to main content
10.1145/1228716.1228745acmconferencesArticle/Chapter ViewAbstractPublication PageshriConference Proceedingsconference-collections
Article

Combining ubiquitous and on-board audio sensing for human-robot interaction

Published: 10 March 2007 Publication History

Abstract

This paper reports on the development of a mobile robot system for operation within a house equipped with a ubiquitous sensor network.Human robot interaction is achieved through the combination of on-robot audio and laser range sensing and additional audio sensors mounted in the ceiling of the ubiquitous environment. The ceiling mounted microphone arrays can be used to summon a mobile robot from a location outside the robot's range of hearing. After the robot autonomously navigates to the desired location, the on-board microphone array can be used to locate the sound source and to recognise a series of greetings and commands.

References

[1]
H. Asoh, Y. Motomura, F. Asano, I. Hara, S. Hayamizu, K. Itou, T. Kurita, T. Matsui, N. Vlassis, R. Bunschoten, and B. Krose. Jijo-2: An office robot that communicates and learns. IEEE Intelligent Systems 16(5):46--55, 2001.
[2]
C. Breazeal. Emotion and sociable humanoid robots. Internation Journal of Human-Computer Studies 59:119--155, 2003.
[3]
S. Kagami, S. Thompson, Y. Nishida, T. Enomoto, and T. Matsui. Home robot service by ceiling ultrasonic locator and microphone array. In Proceedings of the IEEE International Conference on Robotcis and Automation 2006.
[4]
M. Kanehara, S. Kagami, J. Kuffner, and H. Mizoguchi. Path smoothing technique for mobile robot path planning,and it's comparison with field a*. In Proceedings of the JSME Conference on Robotics and Mechatronics 2006.
[5]
J. Kuffner. Efficient optimal search of euclidean-cost grids and lattices. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems 2004.
[6]
A. Lee, T. Kawahara, and K. Shikano. Julius - an open source realtime large vocabulary recognition engine.In Proceedings of the European Conference on Speech Communication and Technology 2001.
[7]
K. Nakatani, H. Okuno, and H. Kitano. Robot recognnizes three simultaneous speech by active audition. In Proceedings of the IEEE International Conference on Robotics and Automation 2003.
[8]
Y. Nishida, H. Aizawa, T. Hori, N. Hoffman, T. Kanade, and M. Kakikura. 3d ultrasonic tagging system for observing human activity. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems 2003.
[9]
Y. Sasaki, S. Kagami, H. Mizoguchi, and T. Enomoto. Sound sources localization with 128ch microphone array on ceiling. In Proceedings of the SICE Conference on Systems Integration 2005.
[10]
Y. Sasaki, S. Masunaga, S. Kagami, and H. Mizoguchi. Sound localisation and separation for a mobile robot by tri-concentric microphone array. In Proceedings of the JSME Conference on Robotics and Mechatronics 2006.
[11]
R. Siegwart, K. Arras, S. Bouadallah, D. Burnier, G. Froidevaux, X. Greppin, B. Jensen, A. Lorotte, L. Mayor, M. Meisser, R. Philippsen, R. Piguet, G. Ramel, G. Terrien, and N. Tomatis. Robox at expo'02: A large-scale installation of personal robots. Robotics and Autonomous Systems 42:203--222, 2003.
[12]
H. Takeda, N. Kobayashi, Y. Matsubara, and T. Nishida. Towards ubiquitous human-robot interaction. In Working Notes for the IJCAI-07 Workshop on Intelligent Multi-Modal Systems 1997.
[13]
A. Tews, M. Mataric, and S. Sukhatme. A scalable approach to human-robot interaction. In Proceedings of the IEEE International Conference on Robotics and Automation 2003.
[14]
S. Thompson and S. Kagami. Smooth trajectory planning with obstacle avoidance for car-like mobile robots. In Proceedings of the 23rd Conference of the Robotics Society of Japan 2005.
[15]
S. Thrun, M. Bennewitz, A. Cremers, F. Dellaert, D. Fox, D. Haehnel, C. Rosenberg, N. Roy, J. Schulte, and D. Schulz. Minerva: A second generation mobile tour-guid robot. In Proceedings of the IEEE International Conference on Robotics and Automation 1999.
[16]
S. Thrun, W. Burgard, and D. Fox. Robust monte carlo localisation for mobile robots. Artificial Intelligence 128:99--141, 2001.

Cited By

View all
  • (2010)Remote navigation of a mobile robot in an RFID-augmented environmentPersonal and Ubiquitous Computing10.1007/s00779-009-0238-314:2(125-136)Online publication date: 1-Feb-2010
  • (2008)Structuring information on people and environment for supporting robotic services2008 IEEE/RSJ International Conference on Intelligent Robots and Systems10.1109/IROS.2008.4651198(2637-2642)Online publication date: Sep-2008

Index Terms

  1. Combining ubiquitous and on-board audio sensing for human-robot interaction

    Recommendations

    Comments

    Information & Contributors

    Information

    Published In

    cover image ACM Conferences
    HRI '07: Proceedings of the ACM/IEEE international conference on Human-robot interaction
    March 2007
    392 pages
    ISBN:9781595936172
    DOI:10.1145/1228716
    Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

    Sponsors

    Publisher

    Association for Computing Machinery

    New York, NY, United States

    Publication History

    Published: 10 March 2007

    Permissions

    Request permissions for this article.

    Check for updates

    Qualifiers

    • Article

    Conference

    HRI07
    HRI07: International Conference on Human Robot Interaction
    March 10 - 12, 2007
    Virginia, Arlington, USA

    Acceptance Rates

    HRI '07 Paper Acceptance Rate 22 of 101 submissions, 22%;
    Overall Acceptance Rate 268 of 1,124 submissions, 24%

    Upcoming Conference

    HRI '25
    ACM/IEEE International Conference on Human-Robot Interaction
    March 4 - 6, 2025
    Melbourne , VIC , Australia

    Contributors

    Other Metrics

    Bibliometrics & Citations

    Bibliometrics

    Article Metrics

    • Downloads (Last 12 months)0
    • Downloads (Last 6 weeks)0
    Reflects downloads up to 11 Feb 2025

    Other Metrics

    Citations

    Cited By

    View all
    • (2010)Remote navigation of a mobile robot in an RFID-augmented environmentPersonal and Ubiquitous Computing10.1007/s00779-009-0238-314:2(125-136)Online publication date: 1-Feb-2010
    • (2008)Structuring information on people and environment for supporting robotic services2008 IEEE/RSJ International Conference on Intelligent Robots and Systems10.1109/IROS.2008.4651198(2637-2642)Online publication date: Sep-2008

    View Options

    Login options

    View options

    PDF

    View or Download as a PDF file.

    PDF

    eReader

    View online with eReader.

    eReader

    Figures

    Tables

    Media

    Share

    Share

    Share this Publication link

    Share on social media