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

fYear

2008

Firstpage

810

Lastpage

815

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICCAS.2008.4694609

Filename

4694609