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Speech as a high level control for teleoperated manipulator arm

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3 Author(s)
El-Emary, I.M.M. ; Fac. of Inf. Technol., King Abdulaziz Univ., Jeddeh, Saudi Arabia ; Fezari, M. ; Abbassi, H.A.

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.

Published in:

Advanced Computer Control (ICACC), 2010 2nd International Conference on  (Volume:2 )

Date of Conference:

27-29 March 2010