We use humanoid robots as platforms of the
research, because we believe that multi-modality of perception and
high degree-of-freedom is essential to simulate intelligent behavior.
SIG has a cover by FRP (fiber reinforced plastic). It is
designed to separate the SIG inner world from the external
one acoustically. A pair of CCD cameras (Sony EVI-G20) is used for
stereo vision. Two pairs of microphones are used for auditory
processing. One pair is located in the left and right ear position
for sound source localization. The other is installed inside the
cover mainly for canceling self-motor noise in motion. SIG
has 4 DC motors (4 DOFs) with functions of position and velocity
control by using potentio-meters.
SIG2 is designed and built by taking into consideration the problems
in humanoid SIG. They are listed the below.
SIG2 has soft skin and the human-shaped ears by silicon.
The pinnae in the ears improves the front directivity of 10dB.
The upper half of the body has 4 DOFs by harmonic drives and is
covered by silicon not to reflect sounds so much. The head has two
cameras (stereo camera), two microphones (Sennheiser ME102) that is
installed in the silicon human ear. The
shape of SIG2 is designed by a professional designer to
consider the aesthetic appearance.
- loud self motor noise (at stand-by: 5.6 dB, in motion: 23 dB, by
camera: 3.7 dB),
- strong sound reflection by the body made of FRP,
- resonance inside the cover,
- leaking sound from inside the cover, and
- no pinnae on the microphone mold.
Replie is similar to SIG2 from the viewpoint of acoustics,
because it also has soft skin and the human-shaped ears by silicon.
However, Replie is a full body humanoid which is made by
molding a Japanese woman. So, the shape of head and body is
different from SIG2's. lower half of the body, and 11 DOFs in
total. The ears and microphones are the same as SIG2's. Two
cameras (CN-68MC) are embedded in the eye positions.