| 摘要 |
PROBLEM TO BE SOLVED: To make a robot naturally move when it recognizes a voice. SOLUTION: The watching direction of the robot by face and eyes, etc., is made to coincide with the orienting direction of a microphone array. That is, an acoustic signal is received from a sound source, an input signal is generated at each microphone and the direction of the sound source is estimated from the input signal (step 16). The eyes of the robot, its posture or the both of them are controlled to make the robot watching direction coincide with the sound source direction (step 17). The orienting direction of the microphone array is made to coincide with the watching direction (step 18). Voice is recognized with a delay sum corresponding to the orienting direction as an input (step 19). |
