TY - GEN
T1 - An action decision mechanism using fuzzy-neural network in voice commanded fuzzy coach-player system for robots
AU - Watanabe, Keigo
AU - Izumi, Kiyotaka
AU - Ohshima, Ayumu
AU - Ishii, Shin Ichi
PY - 2006/12/1
Y1 - 2006/12/1
N2 - In this paper, research on achieving a cooperation between human and robot is described in the framework of a fuzzy coach-player system, where a human is regarded as a coach, a robot is viewed as a player, and the human speech languages including several fuzzy implications are used as one communication way. In particular, a reasoning mechanism based on fuzzy neural network is proposed to determine the control input to the robot, in order to obtain the adequate amount of the robot action desired by the human in response to the environmental situation. For the training of the network, design parameters in the consequent part are adjusted so as to realize the holding and moving of an object by the robot commanded with the human voice instructions. The effectiveness of the present system is illustrated through experiments for a piling work of colored objects in 3-D space.
AB - In this paper, research on achieving a cooperation between human and robot is described in the framework of a fuzzy coach-player system, where a human is regarded as a coach, a robot is viewed as a player, and the human speech languages including several fuzzy implications are used as one communication way. In particular, a reasoning mechanism based on fuzzy neural network is proposed to determine the control input to the robot, in order to obtain the adequate amount of the robot action desired by the human in response to the environmental situation. For the training of the network, design parameters in the consequent part are adjusted so as to realize the holding and moving of an object by the robot commanded with the human voice instructions. The effectiveness of the present system is illustrated through experiments for a piling work of colored objects in 3-D space.
KW - Fuzzy neural networks
KW - Human and robot cooperation
KW - Voice commands
KW - Work in 3-D space
UR - http://www.scopus.com/inward/record.url?scp=34250784632&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34250784632&partnerID=8YFLogxK
U2 - 10.1109/SICE.2006.315379
DO - 10.1109/SICE.2006.315379
M3 - Conference contribution
AN - SCOPUS:34250784632
SN - 8995003855
SN - 9788995003855
T3 - 2006 SICE-ICASE International Joint Conference
SP - 5120
EP - 5125
BT - 2006 SICE-ICASE International Joint Conference
T2 - 2006 SICE-ICASE International Joint Conference
Y2 - 18 October 2006 through 21 October 2006
ER -