To provide a robot hearing device which collects sound from an external target and conducts active perception without being adversely affected by noise generated inside a robot such as noise of a driving mechanism.
A human shaped robot 10 having noise generating sources such as an internal driving mechanism includes a sound proof exterior 14 which covers at least a head section 13 of the robot, a pair of external microphones 16 which are located outside the exterior at both ear locations and mainly collects external sound, a pair of internal microphones 17 which are provided inside the exterior and mainly collects noise from internal noise generating sources and a processing circuit 18 which cancels noise signals of the internal noise generating sources from acoustic signals of the external microphones based on the signals of the external and the internal microphones. The robot hearing device is constituted so that the microphones 17 are disposed and made movable in lateral, forward and back and up and doward directions inside the exterior.
MATSUI TATSUYA
OKUNO HIROSHI
KITANO HIROAKI
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