Evaluating fuzzy voice commands by internal rehearsal for controlling a robot manipulator

A. G. Buddhika, P. Jayasekara, Keigo Watanabe, Kiyotaka Izumi

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

4 Citations (Scopus)

Abstract

This paper proposes a method for evaluating fuzzy voice commands (FVCs) by internal rehearsal. The robot's experience on previous movements is very useful for understanding fuzzy linguistic information. Therefore, an internal rehearsal system is introduced to acquire the robot's experience on previous movements. Such acquisition enhances the robot's capability to interpret fuzzy linguistic information in FVCs according to the current environmental context. The proposed system is used to evaluate the fuzzy linguistic information related to the primitive movements of a robot manipulator. Those primitive movements are realized by behavior evaluation network (BEN) with the guidance of the internal rehearsal system. Mainly, the system is utilized to understand fuzzy voice motion commands (FVMCs) and fuzzy voice joint commands (FVJCs) for controlling the end-effector movements and the single joint movements of the robot manipulator. The proposed idea is demonstrated with a PA-10 robot manipulator.

Original languageEnglish
Title of host publicationICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
Pages3130-3135
Number of pages6
Publication statusPublished - Dec 1 2009
Externally publishedYes
EventICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009 - Fukuoka, Japan
Duration: Aug 18 2009Aug 21 2009

Publication series

NameICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings

Other

OtherICROS-SICE International Joint Conference 2009, ICCAS-SICE 2009
CountryJapan
CityFukuoka
Period8/18/098/21/09

Keywords

  • Fuzzy voice commands
  • Internal rehearsal
  • Robot control

ASJC Scopus subject areas

  • Information Systems
  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering

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  • Cite this

    Buddhika, A. G., Jayasekara, P., Watanabe, K., & Izumi, K. (2009). Evaluating fuzzy voice commands by internal rehearsal for controlling a robot manipulator. In ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings (pp. 3130-3135). [5334029] (ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings).