Evaluating fuzzy voice commands by user guided visual attention for controlling a robot manipulator

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

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

2 Citations (Scopus)

Abstract

This paper proposes a method for evaluating fuzzy voice commands (FVCs) by user guided visual attention. FVCs inherit fuzzy linguistic information due to the inclusion of fuzzy linguistic terms such as "very little." The contextual meaning of such information depends on the environmental arrangement. Therefore, visual attention system (VAS) is utilized to evaluate the fuzzy linguistic information based on the environmental conditions. It is implemented by assuming that the corresponding distance value for a particular FVC depends on the spatial arrangement of the surrounding objects in the environment. A fuzzy logic based voice command evaluation system (VCES) is proposed to assess the fuzzy linguistic information in user commands. In addition, the user has been given the freedom to adjust command evaluation process by changing the attention level. It is achieved by using attentive voice commands such as "move carefully." A situation of object manipulation by navigating the tip of a robot manipulator through the user's working space is demonstrated to illustrate the system where a PA-10 robot manipulator is used.

Original languageEnglish
Title of host publicationICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings
Pages3136-3141
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
  • Robot control
  • Visual attention

ASJC Scopus subject areas

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

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    Jayasekara, A. G. B. P., Watanabe, K., & Izumi, K. (2009). Evaluating fuzzy voice commands by user guided visual attention for controlling a robot manipulator. In ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings (pp. 3136-3141). [5334098] (ICCAS-SICE 2009 - ICROS-SICE International Joint Conference 2009, Proceedings).