Abstract
Thinking that a humanoid were in your house, there would be an unknown world for him/her. So, it's important for humanoids to get environmental information by active sensing. To be sure, humanoids can obtain information by vision, but also can do by audition. In this paper, humanoids examine properties belonging to objects by listen to a sound when tapped with. And then, it is shown that it is important in humanoids' system to work in cooperation with an auditory module and an action planning module. As an example to show usefulness in daily-life, we realize garbage separation by a humanoid in an experimental environment.
