Self-supervised learning of motion-induced acoustic noise awareness in social robots

• Autorzy: Andrade João , Pedro Santana , Almeida Alexandre P.

Identyfikatory

DOI

10.14313/JAMRIS_1-2019/1

• Języki publikacji: EN

Abstrakty

EN

With the growing presence of robots in human populated environments, it becomes necessary to render their presence natural, rather than invasive. To do that, robots need to make sure the acoustic noise induced by their motion does not disturb people nearby. In this line, this paper proposes a method that allows the robot to learn how to control the amount of noise it produces, taking into account the environmental context and the robot’s mechanical characteristics. Concretely, the robot adapts its motion to a speed that allows it to produce less noise than the environment’s background noise and, hence, avoiding to disturb nearby humans. For that, before executing any given task in the environment, the robot learns how much acoustic noise it produces at different speeds in that environment by gathering acoustic informatinon through a microphone. The proposed method was successfully validated on various environments with various background noises. In addition, a PIR sensor was installed on the robot in order to test the robot’s ability to trigger the noise-aware speed control procedure when a person enters the sensor’s field of view. The use of a such a simple sensor aims at demonstrating the ability of the proposed system to be deployed in minimalistic robots, such as micro unmanned aerial vehicles.

Słowa kluczowe

EN

social robot; acoustic noise; motion control; self-supervised learning

PL

robot społeczny; hałas akustyczny; kontrola ruchu

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2019
• Tom: Vol. 13, No. 1
• Strony: 3--14
• Opis fizyczny: Bibliogr. 30 poz., rys.

Twórcy

autor

Andrade João

• Instituto de Telecomunicações and ISCTE-Instituto Universitário de Lisboa, Lisboa, PORTUGAL

autor

Pedro Santana

• Instituto de Telecomunicações and ISCTE-Instituto Universitário de Lisboa, Lisboa, PORTUGAL

autor

Almeida Alexandre P.

• Instituto de Telecomunicações and ISCTE-Instituto Universitário de Lisboa, Lisboa, PORTUGAL

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Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).