In order to enable interactive exploration of the environment, including changing ear signals, the Two!Ears model can either be used together with a binaural simulation stage or the signals can directly be acquired by a robotic platform. In our project we have been building two of those robotic platforms, one at Institut des Systèmes Intelligents et de Robotique (ISIR) in Paris, and one at Laboratoire d’Analyse et d’Architecture des Systèmes (LAAS-CNRS) in Toulouse.
In both cases we used the KEMAR head and torso simulator as a basic, as it provides a standard way for acquiring binaural signals. The KEMAR was then placed on movable robotic platforms, namely ODI in Paris which was specially made for KEMAR by enova robotics and the in-house build Jido platform (Toulouse).
In addition to the movements provided by the robotic platforms, we modified the KEMAR by adding a motor into its body in order to allow head rotations. It has an accuracy under 1° and is also useful if you want to acquire binaural room impulse responses with the KEMAR.
If you want to see both robots in action you can have a look at the companion videos for a localisation approach presented at ICASSP 2016 by Bustamante et al. or at a video showing a navigation task performed in the lab at ISIR.