Sensor head and attention control system for Human-Robot interaction

fencinghuddleΤεχνίτη Νοημοσύνη και Ρομποτική

14 Νοε 2013 (πριν από 3 χρόνια και 11 μήνες)

86 εμφανίσεις


DIPLOMA THESIS




Autor
: Maik Pogge
n
dorf


Fakultät Elektrotechnik und Informationstechnik

Institut für Automatisierungstechnik






Sensor head and attention control system for

Human
-
Robot interaction


Abstract


In this work a moveable sensor head enables a mobile robot platform to interact with people. A
multimodal attention control architecture is presented to control the senso
r head. The goal is to
align the visual and acoustic sensors of the robot by producing a focus straight on people.

Moreover, procedures of the sound source localisation are examined theoretically and simul
a-
tive to detect people also beyond the field of vis
ion of the camera. Outgoing from theoretical
considerations of acoustic signal processing an linear equidistant mikrophon array was dime
n-
sioned and realised. Furthermore, a
Delay
-
and
-
Sum Beamformer

was implemented for the i
m-
provement of the performance of
a simple speech recognition module. To attach the sensor
head on the mobile robot platform an structure of aluminium profiles is used. An additional
power supply allows further the autonomous oper
a
tion. The sensor head made of PowerCube
®

modules serves the

interaction with the user by offering a visual feedback which insures the
user of the attention of the robot.

The multimodal attention control presented in this work generates a focus based on visual,
acoustic as well as tactile information and aligns the

sensor head in such a way that the head
grasp the facial range of people well. Besides, the implemented attention co
n
trol implies the
essential aspects of human attention processes. In a hierarchical processing chain, the intr
o-
duced communication mechanis
ms provide a hybrid model of atte
n
tion by including elements
of bottom/up and top/down attention behaviour. As a general view, such an attention control
co
n
sists of many subcognitive units, which interoperate together and generate attention
auton
o
mous or c
o
-
operative. In simple behaviour pa
t
terns, it was shown that the introduced
attention control architecture has potential for complicated context
-
based interaction and co
m-
munication with people. The presented work displays an essential basis for building fu
rther
application to study the human r
o
bot interaction.


P
1
P
2
R





Tutor
:
Dipl.
-
Ing. F. Schultke

(Fraunhofer IFF,
Magdeburg
)

Supervisor
:

Prof. Dr. techn. K.
Janschek

Working period
:
4
. Mai 2009


6
. November 2009