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Sound Localization for a Humanoid Robot by Means of Genetic Programming

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Book cover Real-World Applications of Evolutionary Computing (EvoWorkshops 2000)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 1803))

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Abstract

A linear GP system has been used to solve the problem of sound localization for an autonomous humanoid robot, with two microphones as ears. To determine the angle to the sound source, an evolved program was used in a loop over a stereo sample stream, where the genetic program gets the latest sample pair plus feedback from the previous iteration as input. The precision of the evolved programs was dependent on the experimental setup. For a sawtooth wave from a fixed distance the smallest error was 8°. When letting the distance to the same source vary the error was 23°. For a human voice at varying distances the error was up to 41°.

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References

  1. Irie R.E.; Robust Sound Localization: An Application of an Auditory Perception System for a Humanoid Robot, thesis, MIT, Cambridge 1993.

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  2. Blauert J.; Spatial Hearing, the Psychophysics of Human Sound Localization, MIT Press, 1997.

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  3. Banzhaf W., et.al.; Genetic Programming, dpunkt.verlag and Morgan Kaufmann Publishers, Heidenberg and San Fransico, 1998.

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  4. Hofman P.M., et.al., Relearning sound localization with new ears, Nature neuroscience, 5, pp. 417–421, 1998.

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Author information

Authors and Affiliations

  1. Complex Systems Group, Chalmers University of Technology, S-412 96, Göteborg, Sweden

    Rikard Karlsson, Peter Nordin & Mats Nordahl

Authors
  1. Rikard Karlsson
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  2. Peter Nordin
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  3. Mats Nordahl
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Editor information

Editors and Affiliations

  1. Department of Computer Engineering, University of Parma, Parco delle Scienze 181/a, 43100, Parma, Italy

    Stefano Cagnoni

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© 2000 Springer-Verlag Berlin Heidelberg

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Karlsson, R., Nordin, P., Nordahl, M. (2000). Sound Localization for a Humanoid Robot by Means of Genetic Programming. In: Cagnoni, S. (eds) Real-World Applications of Evolutionary Computing. EvoWorkshops 2000. Lecture Notes in Computer Science, vol 1803. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45561-2_7

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  • DOI: https://doi.org/10.1007/3-540-45561-2_7

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-67353-8

  • Online ISBN: 978-3-540-45561-5

  • eBook Packages: Springer Book Archive

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