Speech as a High Level Control for teleoperated Manipulator Arm
In this work a tele-operated system for a robot arm is designed and controlled by the operator, in witch voice control mode occur to carry out remote tasks. A voice command system for the manipulator arm is implemented as a high level control design and compared to a low level control design based on joystick. The high level control paradigm adopted is based on a spotted words recognition system using stochastic model, robust HMM (Hidden Markov Model) with Cepstral coefficients as parameters witch is used in automatic speech recognition system. To implement the approach on a real-time application, a Personal Computer USB interface was designed to transmit commands via Bluetooth components to control the movement of a Robot Arm (the TR-45). The user can control the movements of four degree of freedom (DOF) for TR-45 using a vocal phrase containing spotted words or using a joystick.
Human-machine interaction hidden Markov Model voice command stepper motors and Robotics.
Ibrahiem M.M.El-Emary Mohamed Fezari Hadj Ahmed Abbassi
Faculty of Information Technology King Abdulaziz University Jeddeh, King Saudi Arabia Laboratory of Automatic and Signals, Annaba University of Annaba Annaba, Algeria
国际会议
The 2nd IEEE International Conference on Advanced Computer Control(第二届先进计算机控制国际会议 ICACC 2010)
沈阳
英文
657-662
2010-03-27（万方平台首次上网日期，不代表论文的发表时间）