A Service Robot System Based on Hearing

Abstract

A novel service robot system was proposed in this paper. The system consists of a robot which has a microphone array corresponding to humanpsilas ears. The robot can understand some specifically voice commands and localize the direction of speaker. Speech recognition is realized based on pattern matching. Speaker localization is realized based on time delay of arrival (TDOA) estimation using robot hearing. The system was tested in room environment: robot could recognize speech, localize speaker and get to the position of speaker. Such a mobile robot has potential for application in somewhere voice communication plays a crucial role. The method is proved efficient enough for real-time operation.