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

Poncela, A.; Gallardo-Estrella, Leticia

doi:10.1017/s0263574714000010

Cited by 30 publications

(17 citation statements)

References 34 publications

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“…A set of ergonomics, quality, and productivity criteria is designed to choose the most suitable plans. [37], voice commands [38], and haptic and force control are popular research topics in HRC. Due to the unpredictability of human behaviors, unified modal control framework is always needed to adapt signal alteration from heterogeneous sensor sources, such as vision, position, and force [39].…”

Section: Task Planning and Assignmentmentioning

confidence: 99%

Anthropocentric Approach for Smart Assembly: Integration and Collaboration

Tan

Tong

et al. 2019

Journal of Robotics

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Recently, anthropocentric or human-centric approaches renewed its importance in smart manufacturing especially for assembly applications where human dexterity and informal knowledge are dispensable at present and in the near future. This paper analyzes the integration, design, and collaboration issues regarding anthropocentric researches in the past few years mainly in assembly domain. First of all, towards closed-loop system integration, the researches on integrating human in the cyber-physical system are elaborated and summarized. Then, human-centric designs (HCD) especially in shop-floor assembly field are analyzed. To emphasize human-robot hybrid assembly, several related issues including collaboration paradigm, task planning and assignment, interaction interfaces, and safety are discussed. At last, a survey on human cognitive and social limitation management is elaborated. Related research challenges and directions are discussed.

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Section: Task Planning and Assignmentmentioning

confidence: 99%

Anthropocentric Approach for Smart Assembly: Integration and Collaboration

Tan

Tong

et al. 2019

Journal of Robotics

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“…Stanislav Ondas, Jozef Juhar, Matus Pleva, Anton Cizmar, Roland Holcer [12] use HMM-Open Access Library Journal based acoustic models trained using the SpeechDatE-SK database. Alberto Poncela and Leticia Gallardo-Estrella [13] use Simon, Sphinx, and Julius/Julian.…”

Section: Voice In the Control Systemmentioning

confidence: 99%

“…For recognition a lot of authors propose to use Microsoft Speech API [10], commercially available automatic speech recognition (ASR) [4] [7], Simon, Sphinx, and Julius/Julian [13], API Google [14] but it is not specified, in what way control commands library is organized. Many authors propose working algorithms for toy robots [6], and robots based on Arduino [9], such robots cannot be used in industrial conditions.…”

Section: General Ideology Of Processing Voice Informationmentioning

confidence: 99%

Software for Voice Control Robot: Example of Implementation

Maksymova¹,

Matarneh²,

Lyashenko³

2017

OALib

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Considering software for voice control robot, the main application window is shown. The examples illustrate various robot controls. The structure of the management team is developed. The grammar of various commands is described. A library of words is proposed, which the operator can enter to achieve the set goals. The main elements of the library are listed. To provide voice control, a sequence of actions is provided, which must be followed by the operator. The commands that may be needed in the case of interactive correction of actions are considered.

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“…Non-contact human-machine methods [10], [11] are developed for handling interaction problems. In these methods, the operators do not need to be in direct contact with the devices, but their human motion is measured in a noncontacting way such as the vision-based method.…”

Section: Introductionmentioning

confidence: 99%

A Novel Natural Mobile Human-Machine Interaction Method With Augmented Reality

Zhang

et al. 2019

IEEE Access

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This paper proposes a novel teleoperation method that allows users to guide robots hand by hand along with speech. In this method, the virtual robot modeled according to the remote real robot is projected into the real local environment to form a 3D operation interface. In this case, users can directly interact with virtual objects by their hands. Furthermore, since the Leap Motion is attached to the augmented reality (AR) glasses, the operation space is greatly extended. Therefore, users can observe the virtual robot from an arbitrary angle without blind angle in such a mobile pattern, which enhances the users' interactive immersion and provides more natural human-machine interaction. To improve the accuracy of the measurement, an unscented Kalman filter (UKF) and an improved particle filter (IPF) are used to estimate the position and orientation of the hand, respectively. Furthermore, Term Frequency-Inverse Document Frequency (TF-IDF) and maximum entropy model are adopted to recognize the speech and gestures instructions of the user. The proposed method is compared with the three human-machine methods on various experiments. The results verified the effectiveness of the proposed method. INDEX TERMS Teleoperation, augmented reality, hand by hand, unscented Kalman filter, term frequency-inverse document frequency.

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

Cited by 30 publications

References 34 publications

Anthropocentric Approach for Smart Assembly: Integration and Collaboration

Anthropocentric Approach for Smart Assembly: Integration and Collaboration

Software for Voice Control Robot: Example of Implementation

A Novel Natural Mobile Human-Machine Interaction Method With Augmented Reality

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