Voice-Awareness Control Consistent with Robot’s Body Movements
نویسندگان
چکیده
This paper presents voice-awareness control related to robot’s head movements. Our control is based on a new model of spectral envelope modification for the vertical head motions, and left-right balance modulation for the horizontal head motions. The spectral envelope modification model is based on the analysis of human vocalizations. The left-right balance model is established by measuring impulse responses using a pair of microphones. Experimental results show that the voice-awareness is perceivable in a robotto-robot dialogue when the robots stand 50 cm away. We also confirmed observable voice-awareness declines as the distance becomes large up to 150 cm.
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