Visual evaluation and fuzzy voice commands for controlling a robot manipulator

A. G. Buddhika; P. Jayasekara; Keigo Watanabe; Maki K. Habib; Kiyotaka Izumi

doi:10.1504/IJMMS.2010.033186

Visual evaluation and fuzzy voice commands for controlling a robot manipulator

A. G. Buddhika, P. Jayasekara, Keigo Watanabe, Maki K. Habib, Kiyotaka Izumi

School of Engineering

Research output: Contribution to journal › Article › peer-review

3 Citations (Scopus)

Abstract

This paper proposes a method for learning and controlling an industrial robot manipulator through Fuzzy Voice Commands (FVCs) guided by visual motor coordination. Supervised Self-Organising Map (SSOM) is proposed to implement the visual motor coordination. The FVCs are used to control the robot manipulator toward a goal. Visual evaluation process is adapted by the supervision of the human coach. The learned system is capable of navigating the robot manipulator to a point in 3D working space as instructed by the voice commands. The proposed idea is demonstrated with a PA-10 industrial manipulator.

Original language	English
Pages (from-to)	244-260
Number of pages	17
Journal	International Journal of Mechatronics and Manufacturing Systems
Volume	3
Issue number	3-4
DOIs	https://doi.org/10.1504/IJMMS.2010.033186
Publication status	Published - May 2010

Keywords

FVCs
Fuzzy voice commands
Robot control
SSOM
Supervised self-organising map
Visual motor coordination

ASJC Scopus subject areas

Mechanical Engineering
Industrial and Manufacturing Engineering
Electrical and Electronic Engineering

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10.1504/IJMMS.2010.033186

Cite this

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AU - Jayasekara, P.

AU - Watanabe, Keigo

AU - Habib, Maki K.

AU - Izumi, Kiyotaka

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AB - This paper proposes a method for learning and controlling an industrial robot manipulator through Fuzzy Voice Commands (FVCs) guided by visual motor coordination. Supervised Self-Organising Map (SSOM) is proposed to implement the visual motor coordination. The FVCs are used to control the robot manipulator toward a goal. Visual evaluation process is adapted by the supervision of the human coach. The learned system is capable of navigating the robot manipulator to a point in 3D working space as instructed by the voice commands. The proposed idea is demonstrated with a PA-10 industrial manipulator.

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Visual evaluation and fuzzy voice commands for controlling a robot manipulator

Abstract

Keywords

ASJC Scopus subject areas

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