Speech control of a teleoperated mobile humanoid robot

This paper introduces a mobile humanoid robot platform which is able to understand humans´ speech commands in their everyday environments. For service in more complicated and varied environments, the robot must operate efficiently under active auditory perception system to ensure a coordinated human-robot system. We enhance the efficiency of the control system by developing a speech commands scheme, and integrate it into the teleoperation. In order to eliminate the time delay in the communication channel, we incorporate and modify the event-based motion control into the robot. It drives the system to achieve the best possible motion.