Remote control of a robotic arm through speaker-dependent, isolated-word speech recognition

[摘要] The focus of this thesis is the remote control of a six degree-of-freedom mid-range industrial robot arm through the use of speech recognition. The robot arm is controlled through speaker-dependent, isolated-word speech recognition. Template matching techniques are used to interpret verbal input and make the robot arm perform a desired task. The user inputs one- or two-word commands to interact verbally with the robot. The verbal input is matched against a vocabulary of known commands for recognition. Once the command is interpreted, the corresponding subroutine is run and the robot arm performs the task. The movement of the arm, to include the manipulation of its gripper, is accomplished in discrete increments. The program is designed to allow for multiple users and it can be modified to perform robotic control for other tasks.

[发布机构] Rice University

[效力级别] engineering