Abstract
This paper presents a method of controlling robot manipulators with fuzzy voice commands. Recently, there has been some research on controlling robots using information-rich fuzzy voice commands such as 'go little slowly' and learning from such commands. However, the scope of all those works was limited to basic fuzzy voice motion commands. In this paper, we introduce a method of controlling the posture of a manipulator using complex fuzzy voice commands. A complex fuzzy voice command is composed of a set of fuzzy voice joint commands. Complex fuzzy voice commands can be used for complicated maneuvering of a manipulator, while fuzzy voice joint commands affect only a single joint. Once joint commands are learned, any complex command can be learned as a combination of some or all of them, so that, using the learned complex commands, a human user can control the manipulator in a complicated manner with natural language commands. Learning of complex commands is discussed in the framework of fuzzy coach-player model. The proposed idea is demonstrated with a PA-10 redundant manipulator.
| Original language | English |
|---|---|
| Pages (from-to) | 293-328 |
| Number of pages | 36 |
| Journal | Advanced Robotics |
| Volume | 21 |
| Issue number | 3-4 |
| Publication status | Published - 2007 |
| Externally published | Yes |
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Keywords
- Fuzzy coach-player system
- Human-friendly robots
- Posture control
- Sub-coach
- Voice commands
ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
Posture control of robot manipulators with fuzzy voice commands using a fuzzy coach-player system. / Jayawardena, Chandimal; Watanabe, Keigo; Izumi, Kiyotaka.
In: Advanced Robotics, Vol. 21, No. 3-4, 2007, p. 293-328.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Posture control of robot manipulators with fuzzy voice commands using a fuzzy coach-player system
AU - Jayawardena, Chandimal
AU - Watanabe, Keigo
AU - Izumi, Kiyotaka
PY - 2007
Y1 - 2007
N2 - This paper presents a method of controlling robot manipulators with fuzzy voice commands. Recently, there has been some research on controlling robots using information-rich fuzzy voice commands such as 'go little slowly' and learning from such commands. However, the scope of all those works was limited to basic fuzzy voice motion commands. In this paper, we introduce a method of controlling the posture of a manipulator using complex fuzzy voice commands. A complex fuzzy voice command is composed of a set of fuzzy voice joint commands. Complex fuzzy voice commands can be used for complicated maneuvering of a manipulator, while fuzzy voice joint commands affect only a single joint. Once joint commands are learned, any complex command can be learned as a combination of some or all of them, so that, using the learned complex commands, a human user can control the manipulator in a complicated manner with natural language commands. Learning of complex commands is discussed in the framework of fuzzy coach-player model. The proposed idea is demonstrated with a PA-10 redundant manipulator.
AB - This paper presents a method of controlling robot manipulators with fuzzy voice commands. Recently, there has been some research on controlling robots using information-rich fuzzy voice commands such as 'go little slowly' and learning from such commands. However, the scope of all those works was limited to basic fuzzy voice motion commands. In this paper, we introduce a method of controlling the posture of a manipulator using complex fuzzy voice commands. A complex fuzzy voice command is composed of a set of fuzzy voice joint commands. Complex fuzzy voice commands can be used for complicated maneuvering of a manipulator, while fuzzy voice joint commands affect only a single joint. Once joint commands are learned, any complex command can be learned as a combination of some or all of them, so that, using the learned complex commands, a human user can control the manipulator in a complicated manner with natural language commands. Learning of complex commands is discussed in the framework of fuzzy coach-player model. The proposed idea is demonstrated with a PA-10 redundant manipulator.
KW - Fuzzy coach-player system
KW - Human-friendly robots
KW - Posture control
KW - Sub-coach
KW - Voice commands
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UR - http://www.scopus.com/inward/citedby.url?scp=33847726198&partnerID=8YFLogxK
M3 - Article
VL - 21
SP - 293
EP - 328
JO - Advanced Robotics
JF - Advanced Robotics
SN - 0169-1864
IS - 3-4
ER -