Reliable detection of sound´s direction for human robot interaction

In this paper, we propose reliable detection of sound´s direction for human robot interaction. Compared with previous researches, this system comprises simpler algorithm and a proposed nonlinear amplifier which has advantages to increase a detectible distance of sound signal in spite of simple circuits. Moreover, we propose the new performance index using cross-correlation to make reliable detection of sound´s direction. Also, since this system include a function to detect a period of voice signals, the robot can know when to start finding sound´s direction and performing speech recognition automatically. In order to verify our system´s performances, we install the proposed audition system to the prototype robot, called IROBAA (intelligent robot for active audition), and describe the experimental results.