Human-like environment recognition by musculoskeletal humanoids is important for task realization in real complex environments and for use as dummies for test subjects. Humans integrate various sensory information to perceive their surroundings, and hearing is particularly useful for recognizing objects out of view or out of touch. In this research, we aim to realize human-like auditory environmental recognition and task realization for musculoskeletal humanoids by equipping them with a human-like auditory processing system. Humans realize sound-based environmental recognition by estimating directions of the sound sources and detecting environmental sounds based on changes in the time and frequency domain of incoming sounds and the integration of auditory information in the central nervous system. We propose a human mimetic auditory information processing system, which consists of three components: the human mimetic binaural ear unit, which mimics human ear structure and characteristics, the sound source direction estimation system, and the environmental sound detection system, which mimics processing in the central nervous system. We apply it to Musashi, a human mimetic musculoskeletal humanoid, and have it perform tasks that require sound information outside of view in real noisy environments to confirm the usefulness of the proposed methods.

中文翻译：

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用于肌肉骨骼类人机器人任务实现的拟人双耳设计和声源方向估计

肌肉骨骼类人动物的类人环境识别对于在真实复杂环境中实现任务以及用作测试对象的假人非常重要。人类整合各种感官信息来感知周围环境，而听觉对于识别看不见或摸不着的物体特别有用。在这项研究中，我们的目标是通过为肌肉骨骼类人动物配备类人的听觉处理系统来实现类人的听觉环境识别和任务实现。人类通过估计声源的方向并根据传入声音的时域和频域的变化以及中枢神经系统中听觉信息的整合来检测环境声音，从而实现基于声音的环境识别。我们提出了一种拟人听觉信息处理系统，它由三个部分组成：拟人双耳单元，它模仿人耳的结构和特征，声源方向估计系统，以及环境声音检测系统，它模仿人耳中的处理。中枢神经系统。我们将其应用于 Musashi，一种模拟人类的肌肉骨骼类人动物，并让它在真实嘈杂的环境中执行需要声音信息的任务，以确认所提出方法的有用性。