NDLI: Active soft pinnae for robots

Content Provider	IEEE Xplore Digital Library
Author	Kumon, M. Noda, Y.
Copyright Year	2011
Description	Author affiliation: Department of Intelligent Mechanical Systems, Graduate School of Science and Technology, Kumamoto University, 2-39-1, Kurokami, Japan (Kumon, M.; Noda, Y.)
Abstract	Sound localization is one of fundamental abilities of auditory robots that is necessary for human-machine communication. Especially for autonomous robots, it is also necessary to make the system as simple as possible, and binaural configuration is thought to be the minimum setup for auditory systems as animals achieve practical hearing with two ears. However, the limitation of the number of ears leads insufficient performance such as accuracy in sound localization, or sound source separation. In order to overcome those difficulties, this paper proposes a novel artificial soft pinna that can move, or deform its shape actively. The developed pinna has deformable skin of silicon rubber with wires controlled by motors, and it is covered by a fur cover. Considering applications of the proposed device for auditory robots, fundamental characteristics such as accuracy of motion and auditory characteristics were investigated through experiments, which is the main contribution of the paper.
Starting Page	112
Ending Page	117
File Size	941149
Page Count	6
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094619
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Shape Wires Robots Microphones Skin Transfer functions Accuracy
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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