We developed a system for detecting the speech intervals of multiple speakers and estimating the face orientation during the detected speech intervals by combining information of sound directions from multiple microphone arrays and human positions. The developed system was evaluated in three conditions: individual utterances in different positions and orientations, simultaneous dialogues by multiple speakers, and moving sources. Evaluation results revealed that the proposed system could detect speech intervals with more than 90% accuracy, and face orientations with mean absolute errors around 20 degrees, in situations excluding the cases where all arrays are in the opposite direction to the speaker's face orientation.
Snakes exhibit greatly versatile and adaptive behavior under unpredictable real-world constraints. Although numerous snake-like robots have been developed thus far, they could not reproduce the innate, versatile behavior of real snakes. To address this issue, we previously proposed an autonomous decentralized control scheme in which three-dimensional effect is added to curvature derivative control. In this study, we developed a robot to investigate the validity of the proposed control scheme. Experimental results showed that multiple behaviors emerge via the change of a small number of parameters.
This paper proposes a simple control algorithm to realize stable position of a multi-jointed robotic arm with absorbing impact force exerted on the tip of the redundant robotic arm. Also, recovery motion to a previous orientation maintained prior to the impact is easily realized by a present control algorithm. This control method is based on virtual desired trajectory technique mentioned on our previous research, which is formed by an integral controller that accumulates state-steady error of the tip positions of the robot. The impact force absorption can be realized by temporal stop of the integral controller and instant increase of differential gains utilized at PD controller for the robot motion, resulting in a hold of the virtual desired trajectory of joint angles and in the inhibition of back action against collisional obstacles. This method can be applied to conventional motor-driven mechanism, as a result, we can show that this proposed control algorithm can be applied without any change for the motor-driven structure, as well as an antagonistic wire-driven mechanism. Finally, we verify effectiveness and availability of the impact force absorption method by numerical analysis.
An observation in active volcano areas is very important to work out a strategy for estimation of eruptive activity and evacuation call to residents. However, it is a too dangerous task for human to observe in such areas. Therefore, we developed a tele-operated robotic observation system instead of human. In the system, Unmanned Aerial Vehicle (UAV) carries a small-sized Unmanned Ground Vehicle (UGV) in a target point autonomously, and UGV observes the target area tele-operatively. To confirm our developing system, we performed field experiments in Mt. Asama, Japan. In this paper, we report the results and the lessons learned from the experiments.