Posture control of robot manipulators with fuzzy voice commands using a fuzzy coach–player system

Chandimal Jayawardena, Keigo Watanabe, Kiyotaka Izumi

Research output: Contribution to journalArticle

15 Citations (Scopus)

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 languageEnglish
Pages (from-to)293-328
Number of pages36
JournalAdvanced Robotics
Volume21
Issue number3-4
DOIs
Publication statusPublished - Jan 1 2007
Externally publishedYes

Keywords

  • FUZZY COACH-PLAYER SYSTEM
  • HUMAN-FRIENDLY ROBOTS
  • POSTURE CONTROL
  • SUB-COACH
  • VOICE COMMANDS

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications

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