让仿人机器人像人一样听声辨位，实现复杂环境下的任务执行。
Human-mimetic binaural ear design and sound source direction estimation for task realization of musculoskeletal humanoids
- 模仿人耳结构设计双耳传感器，模拟真实听觉输入。
- 在嘈杂环境中准确估计声源方向，支持非视域任务执行。
- 适用于需要听觉感知的仿人机器人系统，如测试平台或服务机器人。
仿人肌肉骨骼机器人在真实复杂环境中完成任务，依赖于类人环境感知能力。人类通过整合多种感官信息感知周围环境，其中听觉对识别视野外或触觉无法覆盖的物体尤为关键。本研究旨在为仿人肌肉骨骼机器人配备类人听觉处理系统，实现基于声音的环境认知与任务执行。人类通过估算声源方向、分析声波在时频域的变化，并结合中枢神经系统的信息融合来实现听觉感知。为此，我们提出一种类人听觉信息处理系统，包含三个部分：类人双耳传感器单元（模拟人耳结构与特性）、声源方向估计系统，以及模拟中枢神经处理的环境声音检测系统。该系统被应用于仿人机器人Musashi，在真实嘈杂环境中执行需依赖声音信息的非视域任务，验证了方法的有效性。
原文摘要 · Abstract (English)
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 surroundings, and hearing is particularly useful for recognizing objects out of view or out of touch. In this research, we aim to realize human-like auditory environmental recognition and task realization for musculoskeletal humanoids by equipping them with a human-like auditory processing system. Humans realize sound-based environmental recognition by estimating directions of the sound sources and detecting environmental sounds based on changes in the time and frequency domain of incoming sounds and the integration of auditory information in the central nervous system. We propose a human mimetic auditory information processing system, which consists of three components: the human mimetic binaural ear unit, which mimics human ear structure and characteristics, the sound source direction estimation system, and the environmental sound detection system, which mimics processing in the central nervous system. We apply it to Musashi, a human mimetic musculoskeletal humanoid, and have it perform tasks that require sound information outside of view in real noisy environments to confirm the usefulness of the proposed methods.
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