4.4 Installing a microphone array in a robot

Problem

Read this section when wiring microphones into the robot.

Solution

Shorten the length of the wires first before wiring the microphones. When wiring inside the robot, make sure that the microphone wires are not in parallel with other wiring such as power wires and signal wires for servos. For signal transmission, it is better to use differential and digital types.

Set the microphones so that they are in contact with the surface of the robot’s housing. Make sure that the microphones are embedded in the housing, with only the tips visible from the outside of the robot.

Discussion

The microphones are affected by reflections from the robot housing when they are isolated from the surface. This will cause the performance of sound source localization and sound source separation to deteriorate. Make sure that the microphones do not pick up the vibrations caused by the housing during robot operations. Use materials such as bushings for mounting the microphones to supress vibrations.