A particle-swarm-optimized fuzzy-neural network for voice-controlled robot systems
Chatterjee, A.
Pulasinghe, K.
Watanabe, K.
Izumi, K.
Dept. of Adv. Syst. Control Eng., Saga Univ., Japan;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Dec. 2005
Volume: 52,
Issue: 6
On page(s): 1478- 1489
ISSN: 0278-0046
INSPEC Accession Number: 8673503
Digital Object Identifier: 10.1109/TIE.2005.858737
Current Version Published: 2005-12-05
Abstract
This paper shows the possible development of particle swarm optimization (PSO)-based fuzzy-neural networks (FNNs) that can be employed as an important building block in real robot systems, controlled by voice-based commands. The PSO is employed to train the FNNs that can accurately output the crisp control signals for the robot systems, based on fuzzy linguistic spoken language commands, issued by a user. The FNN is also trained to capture the user-spoken directive in the context of the present performance of the robot system. Hidden Markov model (HMM)-based automatic speech recognizers (ASRs) are developed, as part of the entire system, so that the system can identify important user directives from the running utterances. The system has been successfully employed in two real-life situations, namely: 1) for navigation of a mobile robot; and 2) for motion control of a redundant manipulator.
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