Hidden Markov model/Gaussian mixture models (HMM/GMM) based voice command system: A way to improve the control of remotely operated robot arm TR45

A speech control system for a didactic manipulator arm TR45 is designed as an agent in a tele-manipulator system command. Robust Hidden Markov Model (HMM) and Gaussian Mixture models (GMM) are applied in spotted words recognition system with Cepstral coefficients with energy and differentials as features. The HMM and GMM are used independently in automatic speech recognition agent to detect spotted words and recognize them. A decision block will generate the appropriate command and send it to a parallel port of the Personal Computer (PC). To implement the approach on a real-time application, a PC parallel port interface was designed to control the movement of robot motors using a wireless communication component. The user can control the movements of robot arm using a normal speech containing spotted words.   Key words: Human-machine interaction, hidden Markov model, Gaussian mixture models, artificial intelligence, automatic guided vehicle, voice command, robot arm and robotics.

[1]  Hadj Ahmed Abbassi,et al.  Speech as a high level control for teleoperated manipulator arm , 2010, 2010 2nd International Conference on Advanced Computer Control.

[2]  Ángel García-Crespo,et al.  Speech/Speaker Recognition Using a HMM/GMM Hybrid Model , 1997, AVBPA.

[3]  Lawrence R. Rabiner,et al.  A tutorial on hidden Markov models and selected applications in speech recognition , 1989, Proc. IEEE.

[4]  Yuewei Dai,et al.  A secure voice communication system based on DSP , 2004, ICARCV 2004 8th Control, Automation, Robotics and Vision Conference, 2004..

[5]  Liang Gu,et al.  Perceptual harmonic cepstral coefficients for speech recognition in noisy environment , 2001, 2001 IEEE International Conference on Acoustics, Speech, and Signal Processing. Proceedings (Cat. No.01CH37221).

[6]  Kenneth Rose,et al.  Deterministically annealed design of speech recognizers and its performance on isolated letters , 1998, Proceedings of the 1998 IEEE International Conference on Acoustics, Speech and Signal Processing, ICASSP '98 (Cat. No.98CH36181).

[7]  Francesco Beritelli,et al.  A robust voice activity detector for wireless communications using soft computing , 1998, IEEE J. Sel. Areas Commun..

[8]  Masahiro Ohka,et al.  Obstacle Avoidance in Groping Locomotion of a Humanoid Robot , 2005 .

[9]  Pradeep K. Khosla,et al.  Towards a team of robots with reconfiguration and repair capabilities , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[10]  Mouldi Bedda,et al.  Recognition of Spoken Arabic Digits Using Neural Predictive Hidden Markov Models , 2004, Int. Arab J. Inf. Technol..

[11]  M Larsson.  Speech control for robotic arm within rehabilitation , 1999 .