Controlling a robot manipulator with fuzzy voice commands guided by visual motor coordination learning

Buddhika Jayasekara, Keigo Watanabe, Kiyotaka Izumi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

Abstract

This paper proposes a method for learning and controlling an industrial robot manipulator through fuzzy voice commands guided by visual motor coordination. The visual motor coordination learning is implemented by a supervised self organizing map (SSOM). Study of human-robot communication is one of the most important research areas. The voice communication is significant in human robot interactions among various communication media. The fuzzy voice commands are used to control the robot and the visual feedback is used to learn the precision control based on visual motor coordination, where it is learned by the supervision of the teacher voice commands. The learned system is capable of positioning the robot manipulator to a point in 3D working space as instructed by the voice command. The proposed idea is demonstrated with a PA-10 industrial manipulator.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Pages2540-2544
Number of pages5
DOIs
Publication statusPublished - 2008
Externally publishedYes
EventSICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology - Tokyo, Japan
Duration: Aug 20 2008Aug 22 2008

Other

OtherSICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology
CountryJapan
CityTokyo
Period8/20/088/22/08

Fingerprint

Manipulators
Robots
Industrial manipulators
Speech communication
Human robot interaction
Industrial robots
Communication
Self organizing maps
Feedback

Keywords

  • Fuzzy voice commands
  • Supervised self-organizing map
  • Visual motor coordination

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

Cite this

Jayasekara, B., Watanabe, K., & Izumi, K. (2008). Controlling a robot manipulator with fuzzy voice commands guided by visual motor coordination learning. In Proceedings of the SICE Annual Conference (pp. 2540-2544). [4655093] https://doi.org/10.1109/SICE.2008.4655093

Controlling a robot manipulator with fuzzy voice commands guided by visual motor coordination learning. / Jayasekara, Buddhika; Watanabe, Keigo; Izumi, Kiyotaka.

Proceedings of the SICE Annual Conference. 2008. p. 2540-2544 4655093.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Jayasekara, B, Watanabe, K & Izumi, K 2008, Controlling a robot manipulator with fuzzy voice commands guided by visual motor coordination learning. in Proceedings of the SICE Annual Conference., 4655093, pp. 2540-2544, SICE Annual Conference 2008 - International Conference on Instrumentation, Control and Information Technology, Tokyo, Japan, 8/20/08. https://doi.org/10.1109/SICE.2008.4655093
Jayasekara, Buddhika ; Watanabe, Keigo ; Izumi, Kiyotaka. / Controlling a robot manipulator with fuzzy voice commands guided by visual motor coordination learning. Proceedings of the SICE Annual Conference. 2008. pp. 2540-2544
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