Motion acquisition based on tapping sound recognition by time series hearing for Musculoskeletal Humanoid

Abstract

The recognition of environment and self is important in researches of musculoskeletal humanoids and there are various sensory information they can utilize. Among them, sense of hearing is useful to recognize the result of own motion involving tapping sound. Human can improve own motion to make intended sound like playing a percussion instrument. We aimed that human mimetic musculoskeletal humanoid acquire the motion based on tapping sound. In this study, we developed sound recognition system to discriminate slightly different tapping sound. Moreover, we developed motion acquisition system based on the result of tapping sound recognition. Through these approaches, we succeeeded in acquiring a motion to make an intended snare drum sound with musculoskeletal humanoid “Kengoro”.