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A Study on Real-Time Walking Action Control of Biped Robot with Twenty Six Joints Based on Voice Command
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 Title & Authors
A Study on Real-Time Walking Action Control of Biped Robot with Twenty Six Joints Based on Voice Command
Jo, Sang Young; Kim, Min Sung; Yang, Jun Suk; Koo, Young Mok; Jung, Yang Geun; Han, Sung Hyun;
 
 Abstract
The Voice recognition is one of convenient methods to communicate between human and robots. This study proposes a speech recognition method using speech recognizers based on Hidden Markov Model (HMM) with a combination of techniques to enhance a biped robot control. In the past, Artificial Neural Networks (ANN) and Dynamic Time Wrapping (DTW) were used, however, currently they are less commonly applied to speech recognition systems. This Research confirms that the HMM, an accepted high-performance technique, can be successfully employed to model speech signals. High recognition accuracy can be obtained by using HMMs. Apart from speech modeling techniques, multiple feature extraction methods have been studied to find speech stresses caused by emotions and the environment to improve speech recognition rates. The procedure consisted of 2 parts: one is recognizing robot commands using multiple HMM recognizers, and the other is sending recognized commands to control a robot. In this paper, a practical voice recognition system which can recognize a lot of task commands is proposed. The proposed system consists of a general purpose microprocessor and a useful voice recognition processor which can recognize a limited number of voice patterns. By simulation and experiment, it was illustrated the reliability of voice recognition rates for application of the manufacturing process.
 Keywords
voice command;biped robot;Hidden Markov Model;real-time implementation;recognition rates;unmanned FA;
 Language
Korean
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