An active audition framework for auditory-driven HRI: Application to interactive robot dancing

Joao Lobato Oliveira*, Gokhan Ince, Keisuke Nakamura, Kazuhiro Nakadai, Hiroshi G. Okuno, Luis Paulo Reis, Fabien Gouyon

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

15 Citations (Scopus)

Abstract

In this paper we propose a general active audition framework for auditory-driven Human-Robot Interaction (HRI). The proposed framework simultaneously processes speech and music on-the-fly, integrates perceptual models for robot audition, and supports verbal and non-verbal interactive communication by means of (pro)active behaviors. To ensure a reliable interaction, on top of the framework a behavior decision mechanism based on active audition policies the robot's actions according to the reliability of the acoustic signals for auditory processing. To validate the framework's application to general auditory-driven HRI, we propose the implementation of an interactive robot dancing system. This system integrates three preprocessing robot audition modules: sound source localization, sound source separation, and ego noise suppression; two modules for auditory perception: live audio beat tracking and automatic speech recognition; and multi-modal behaviors for verbal and non-verbal interaction: music-driven dancing and speech-driven dialoguing. To fully assess the system, we set up experimental and interactive real-world scenarios with highly dynamic acoustic conditions, and defined a set of evaluation criteria. The experimental tests revealed accurate and robust beat tracking and speech recognition, and convincing dance beat-synchrony. The interactive sessions confirmed the fundamental role of the behavior decision mechanism for actively maintaining a robust and natural human-robot interaction.

Original languageEnglish
Title of host publication2012 IEEE RO-MAN
Subtitle of host publicationThe 21st IEEE International Symposium on Robot and Human Interactive Communication
Pages1078-1085
Number of pages8
DOIs
Publication statusPublished - 2012
Externally publishedYes
Event2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012 - Paris, France
Duration: 9 Sept 201213 Sept 2012

Publication series

NameProceedings - IEEE International Workshop on Robot and Human Interactive Communication

Conference

Conference2012 21st IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2012
Country/TerritoryFrance
CityParis
Period9/09/1213/09/12

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