Title :
An Action Decision Mechanism Using Fuzzy-Neural Network in Voice Commanded Fuzzy Coach-Player System for Robots
Author :
Watanabe, Keigo ; Izumi, Kiyotaka ; Ohshima, Ayumu ; Ishii, Shin-ichi
Author_Institution :
Dept. of Adv. Syst. Control Eng., Saga Univ.
Abstract :
In this paper, research on achieving a cooperation between human and robot is described in the framework of a fuzzy coach-player system, where a human is regarded as a coach, a robot is viewed as a player, and the human speech languages including several fuzzy implications are used as one communication way. In particular, a reasoning mechanism based on fuzzy neural network is proposed to determine the control input to the robot, in order to obtain the adequate amount of the robot action desired by the human in response to the environmental situation. For the training of the network, design parameters in the consequent part are adjusted so as to realize the holding and moving of an object by the robot commanded with the human voice instructions. The effectiveness of the present system is illustrated through experiments for a piling work of colored objects in 3D space
Keywords :
fuzzy neural nets; human computer interaction; robots; speech-based user interfaces; sport; 3D space; action decision mechanism; colored objects; fuzzy-neural network; human and robot cooperation; human speech languages; voice commanded fuzzy coach-player system; Control engineering; Control systems; Fuzzy control; Fuzzy neural networks; Fuzzy systems; Humans; Intelligent robots; Neural networks; Orbital robotics; Robot control; Human and robot cooperation; fuzzy neural networks; voice commands; work in 3-D space;
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
DOI :
10.1109/SICE.2006.315379
