Visual evaluation and fuzzy voice commands for controlling a robot manipulator

A. G. Buddhika, P. Jayasekara, Keigo Watanabe, Maki K. Habib, Kiyotaka Izumi

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)

Abstract

This paper proposes a method for learning and controlling an industrial robot manipulator through Fuzzy Voice Commands (FVCs) guided by visual motor coordination. Supervised Self-Organising Map (SSOM) is proposed to implement the visual motor coordination. The FVCs are used to control the robot manipulator toward a goal. Visual evaluation process is adapted by the supervision of the human coach. The learned system is capable of navigating the robot manipulator to a point in 3D working space as instructed by the voice commands. The proposed idea is demonstrated with a PA-10 industrial manipulator.

Original languageEnglish
Pages (from-to)244-260
Number of pages17
JournalInternational Journal of Mechatronics and Manufacturing Systems
Volume3
Issue number3-4
DOIs
Publication statusPublished - May 2010

Keywords

  • FVCs
  • Fuzzy voice commands
  • Robot control
  • SSOM
  • Supervised self-organising map
  • Visual motor coordination

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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