Command-based voice teleoperation of a mobile robot via a human-robot interface

Robotica ◽  
2014 ◽  
Vol 33 (1) ◽  
pp. 1-18 ◽  
Author(s):  
Alberto Poncela ◽  
Leticia Gallardo-Estrella
Keyword(s):  
Mobile Robot ◽  
Recognition Rate ◽  
Recognition System ◽  
Human Robot Interaction ◽  
Spanish Speakers ◽  
Speech Recognition System ◽  
Acoustic Model ◽  
Robotic Platform ◽  
Robot Interaction ◽  
Natural Way

SUMMARYVerbal communication is the most natural way of human–robot interaction. Such an interaction is usually achieved by means of a human-robot interface (HRI). In this paper, a HRI is presented to teleoperate a robotic platform via the user's voice. Hence, a speech recognition system is necessary. In this work, a user-dependent acoustic model for Spanish speakers has been developed to teleoperate a robot with a set of commands. Experimental results have been successful, both in terms of a high recognition rate and the navigation of the robot under the control of the user's voice.

scholarly journals Projection Surfaces Detection and Image Correction for Mobile Robots in HRI

2017 ◽  
Vol 2017 ◽  
pp. 1-16
Author(s):  
Enrique Fernández-Rodicio ◽  
Víctor González-Pacheco ◽  
José Carlos Castillo ◽  
Álvaro Castro-González ◽  
María Malfaz ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Vertical Plane ◽  
Vertical Surface ◽  
Human Robot Interaction ◽  
Image Correction ◽  
Robot Interaction ◽  
Kinect Camera ◽  
Fitting Algorithm ◽  
The Right ◽  
Large Groups

Projectors have become a widespread tool to share information in Human-Robot Interaction with large groups of people in a comfortable way. Finding a suitable vertical surface becomes a problem when the projector changes positions when a mobile robot is looking for suitable surfaces to project. Two problems must be addressed to achieve a correct undistorted image: (i) finding the biggest suitable surface free from obstacles and (ii) adapting the output image to correct the distortion due to the angle between the robot and a nonorthogonal surface. We propose a RANSAC-based method that detects a vertical plane inside a point cloud. Then, inside this plane, we apply a rectangle-fitting algorithm over the region in which the projector can work. Finally, the algorithm checks the surface looking for imperfections and occlusions and transforms the original image using a homography matrix to display it over the area detected. The proposed solution can detect projection areas in real-time using a single Kinect camera, which makes it suitable for applications where a robot interacts with other people in unknown environments. Our Projection Surfaces Detector and the Image Correction module allow a mobile robot to find the right surface and display images without deformation, improving its ability to interact with people.

scholarly journals Online Handwritten Gurmukhi Character Recognition using Hybrid Feature Set

2018 ◽  
Vol 7 (3.4) ◽  
pp. 90 ◽  
Author(s):  
Mandeep Singh ◽  
Karun Verma ◽  
Bob Gill ◽  
Ramandeep Kaur
Keyword(s):  
Character Recognition ◽  
Recognition Rate ◽  
Recognition System ◽  
Classification Models ◽  
Stroke Classification ◽  
Online Recognition ◽  
The World ◽  
Gurmukhi Script ◽  
Online Handwriting ◽  
Natural Way

Online handwriting character recognition is gaining attention from the researchers across the world because with the advent of touch based devices, a more natural way of communication is being explored. Stroke based online recognition system is proposed in this paper for a very complex Gurmukhi script. In this effort, recognition for 35 basic characters of Gurmukhi script has been implemented on the dataset of 2019 Gurmukhi samples. For this purpose, 32 stroke classes have been considered. Three types of features have been extracted. Hybrid of these features has been proposed in this paper to train the classification models. For stroke classification, three different classifiers namely, KNN, MLP and SVM are used and compared to evaluate the effectiveness of these models. A very promising “stroke recognition rate” of 94% by KNN, 95.04% by MLP and 95.04% by SVM has been obtained.  

scholarly journals Enhanced Automatic Speech Recognition System Based on Enhancing Power-Normalized Cepstral Coefficients

2019 ◽  
Vol 9 (10) ◽  
pp. 2166 ◽  
Author(s):  
Mohamed Tamazin ◽  
Ahmed Gouda ◽  
Mohamed Khedr
Keyword(s):  
Speech Recognition ◽  
Automatic Speech Recognition ◽  
Additive White Gaussian Noise ◽  
Recognition Rate ◽  
Data Entry ◽  
Recognition System ◽  
Speech Recognition System ◽  
Automatic Speech Recognition System ◽  
Different Types ◽  
A New Technique

Many new consumer applications are based on the use of automatic speech recognition (ASR) systems, such as voice command interfaces, speech-to-text applications, and data entry processes. Although ASR systems have remarkably improved in recent decades, the speech recognition system performance still significantly degrades in the presence of noisy environments. Developing a robust ASR system that can work in real-world noise and other acoustic distorting conditions is an attractive research topic. Many advanced algorithms have been developed in the literature to deal with this problem; most of these algorithms are based on modeling the behavior of the human auditory system with perceived noisy speech. In this research, the power-normalized cepstral coefficient (PNCC) system is modified to increase robustness against the different types of environmental noises, where a new technique based on gammatone channel filtering combined with channel bias minimization is used to suppress the noise effects. The TIDIGITS database is utilized to evaluate the performance of the proposed system in comparison to the state-of-the-art techniques in the presence of additive white Gaussian noise (AWGN) and seven different types of environmental noises. In this research, one word is recognized from a set containing 11 possibilities only. The experimental results showed that the proposed method provides significant improvements in the recognition accuracy at low signal to noise ratios (SNR). In the case of subway noise at SNR = 5 dB, the proposed method outperforms the mel-frequency cepstral coefficient (MFCC) and relative spectral (RASTA)–perceptual linear predictive (PLP) methods by 55% and 47%, respectively. Moreover, the recognition rate of the proposed method is higher than the gammatone frequency cepstral coefficient (GFCC) and PNCC methods in the case of car noise. It is enhanced by 40% in comparison to the GFCC method at SNR 0dB, while it is improved by 20% in comparison to the PNCC method at SNR −5dB.

Research and Realization on the Voice Command Recognition System for Robot Control Based on ARM9

2010 ◽  
Vol 44-47 ◽  
pp. 1422-1426
Author(s):  
Mei Juan Gao ◽  
Zhi Xin Yang
Keyword(s):  
Control System ◽  
Speech Recognition ◽  
Mobile Robot ◽  
Robot Control ◽  
Linear Prediction ◽  
Recognition System ◽  
Recognition Algorithm ◽  
Speech Recognition System ◽  
Mobile Robot Control ◽  
Robot Control System

In this paper, based on the study of two speech recognition algorithms, two designs of speech recognition system are given to realize this isolated speech recognition mobile robot control system based on ARM9 processor. The speech recognition process includes pretreatment of speech signal, characteristic extrication, pattern matching and post-processing. Mel-Frequency cepstrum coefficients (MFCC) and linear prediction cepstrum coefficients (LPCC) are the two most common parameters. Through analysis and comparison the parameters, MFCC shows more noise immunity than LPCC, so MFCC is selected as the characteristic parameters. Both dynamic time warping (DTW) and hidden markov model (HMM) are commonly used algorithm. For the different characteristics of DTW and HMM recognition algorithm, two different programs were designed for mobile robot control system. The effect and speed of the two speech recognition system were analyzed and compared.

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