Abstract
In this study, the loudspeaker to communicate naturally with partner robots is presented. The head of human is considered to be an omnidirectional loudspeaker and a regular dodecahedron is assumed to be an approximation solid of the head. Two prototypes of the omnidirectional loudspeaker with twelve dynamic loudspeakers embedded in the faces of regular dodecahedron and the controller of sound pressure were developed. The measurement system of the 3-dimensional sound field made by the omnidirectional loudspeaker and the method to reproduce man's voice were also proposed.
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