Title :
Voice control of a robotic forceps using hierarchical instructions
Author :
Izumi, Kiyotaka ; Ishii, Shinichi ; Watanabe, Keigo
Author_Institution :
Dept. of Adv. Syst. Control Eng., Saga Univ., Saga
Abstract :
A robotic forceps is controlled by voice instructions in the framework of a fuzzy coach-player system. In the proposed system, we can deal with some fuzziness included in voice instructions and the system is composed of two instruction levels in order to increase the efficiency of voice instructions. One is a local instruction level that uses any action commands directly. The other is a global instruction level that uses a task command. Such a fuzzy coach-player system is applied for the manipulation of a robotic forceps and the effectiveness of the present system is verified through some actual experiments.
Keywords :
fuzzy control; fuzzy systems; human-robot interaction; manipulators; speech recognition; fuzzy coach-player system; global instruction level; hierarchical voice instruction control; local instruction level; robotic forceps manipulation; Automatic control; Control systems; Force control; Fuzzy systems; Humans; Manipulators; Microphones; Mobile robots; Robot control; Virtual colonoscopy; Interaction between human and robots; Manipulation; Robotic forceps; Voice instructions;
Conference_Titel :
Control, Automation and Systems, 2008. ICCAS 2008. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-9-3
Electronic_ISBN :
978-89-93215-01-4
DOI :
10.1109/ICCAS.2008.4694609
