Voice instructions for controlling a robotic forceps with image and auxiliary information

Author

Izumi, Kiyotaka ; Tokunaga, Takuya ; Watanabe, Keigo

Author_Institution

Dept. of Adv. Syst. Control Eng., Saga Univ., Saga, Japan

fYear

2009

fDate

18-21 Aug. 2009

Firstpage

5031

Lastpage

5035

Abstract

An image related to three-dimensional movement is used for constructing a control system for a robotic forceps by voice instructions, together with use of auxiliary information such as, the information on the tip-position in three-dimension and on the distance of the previous movement. A degree-related adverb included in the voice instruction is quantified by using fuzzy reasoning, in which such auxiliary information is also applied to update the membership functions so as to realize a user-friendly interface. The effectiveness of the present system is demonstrated by actual experiments.

Keywords

control system synthesis; fuzzy control; fuzzy reasoning; human-robot interaction; manipulators; motion control; robot vision; speech recognition; speech-based user interfaces; auxiliary information; control system design; degree-related adverb; fuzzy control; fuzzy reasoning; image information; membership function; robot arm action generation; robotic forceps movement control; three-dimensional image movement; tip-position information; user-friendly speech-based interface; voice instruction recognition; Control systems; Electronic mail; Force control; Fuzzy control; Fuzzy reasoning; Fuzzy systems; Humans; Intelligent robots; Robot control; Service robots; Fuzzy control; Robotic forceps; Voice instructions;

fLanguage

English

Publisher

ieee

Conference_Titel

ICCAS-SICE, 2009

Conference_Location

Fukuoka

Print_ISBN

978-4-907764-34-0

Electronic_ISBN

978-4-907764-33-3

Type

conf

Filename

5334618