부산대학교 도서관

This paper describes a snake robot system that uses sound source localization. We show in this paper as to how we can localize a sound source in 3D and solve the classic forward backward problem in sound source localization using minimum number of audio sensors by using the multiple degrees of freedom of the snake robot. We describe the hardware and software architecture of the robot and show the results of several sound tracking experiments we did with our snake robot. We also present biologically inspired sound tracking behavior in different postures of a biological snake robot as “Digital Snake Charming”.