-- Mobile robots increasingly operate alongside humans but are often out of sight, so that humans need to rely on the sounds of the robots to recognize their presence. For successful human-robot interaction (HRI), it is therefore crucial to understand how humans perceive robots by their consequential sounds, i.e., operating noise. Prior research suggests that the sound of a quadruped Go1 is more detectable than that of a wheeled T urtlebot. This study builds on this and examines the human ability to localize consequential sounds of three robots (quadruped Go1, wheeled T urtlebot 2i, wheeled HSR) in Virtual Reality. In a within-subjects design, we assessed participants' localization performance for the robots with and without an acoustic vehicle alerting system (A V AS) for two velocities (0.3, 0.8 m/s) and two trajectories (head-on, radial). In each trial, participants were presented with the sound of a moving robot for 3 s and were tasked to point at its final position (localization task). Localization errors were measured as the absolute angular difference between the participants' estimated and the actual robot position. Results showed that the robot type significantly influenced the localization accuracy and precision, with the sound of the wheeled HSR (especially without A V AS) performing worst under all experimental conditions. Surprisingly, participants rated the HSR sound as more positive, less annoying, and more trustworthy than the T urtlebot and Go1 sound. This reveals a tension between subjective evaluation and objective auditory localization performance. Our findings highlight consequential robot sounds as a critical factor for designing intuitive and effective HRI, with implications for human-centered robot design and social navigation.

The localization and orientation to various novel or interesting events in the environment is a critical sensorimotor ability in all animals, predator or prey. In mammals, the superior colliculus (SC) plays a major role in this behavior, the deeper layers exhibiting topographically mapped responses to visual, auditory, and somatosensory stimuli. Sensory information arriving from different modalities should then be represented in the same coordinate frame. Auditory cues, in particular, are thought to be computed in head-based coordinates which must then be transformed to retinal coordinates. In this paper, an analog VLSI implementation for auditory localization in the azimuthal plane is described which extends the architecture proposed for the barn owl to a primate eye movement system where further transformation is required. This transformation is intended to model the projection in primates from auditory cortical areas to the deeper layers of the primate superior colliculus. This system is interfaced with an analog VLSI-based saccadic eye movement system also being constructed in our laboratory.

The localization and orientation to various novel or interesting events in the environment is a critical sensorimotor ability in all animals, predator or prey. In mammals, the superior colliculus (SC) plays a major role in this behavior, the deeper layers exhibiting topographically mapped responses to visual, auditory, and somatosensory stimuli. Sensory information arriving from different modalities should then be represented in the same coordinate frame. Auditory cues, in particular, are thought to be computed in head-based coordinates which must then be transformed to retinal coordinates. In this paper, an analog VLSI implementation for auditory localization in the azimuthal plane is described which extends the architecture proposed for the barn owl to a primate eye movement system where further transformation is required. This transformation is intended to model the projection in primates from auditory cortical areas to the deeper layers of the primate superior colliculus. This system is interfaced with an analog VLSI-based saccadic eye movement system also being constructed in our laboratory.

The localization and orientation to various novel or interesting events in the environment is a critical sensorimotor ability in all animals, predator or prey. In mammals, the superior colliculus (SC) plays a major role in this behavior, the deeper layers exhibiting topographicallymapped responses to visual, auditory, and somatosensory stimuli. Sensory information arriving from different modalitiesshould then be represented in the same coordinate frame. Auditory cues, in particular, are thought to be computed in head-based coordinates which must then be transformed to retinal coordinates.In this paper, an analog VLSI implementation for auditory localization in the azimuthal plane is described which extends thearchitecture proposed for the barn owl to a primate eye movement system where further transformation is required. This transformation is intended to model the projection in primates from auditory cortical areas to the deeper layers of the primate superior colliculus. This system is interfaced with an analog VLSI-based saccadic eye movement system also being constructed in our laboratory.

Many auditory theorists consider the temporal adaptation of the auditory nerve a key aspect of speech coding in the auditory periphery. Experiments with models of auditory localization and pitch perception also suggest temporal adaptation is an important element of practical auditory processing. I have designed, fabricated, and successfully tested an analog integrated circuit that models many aspects of auditory nerve response, including temporal adaptation.