Visual evaluation and fuzzy voice commands for controlling a robot manipulator
by A.G. Buddhika P. Jayasekara, Keigo Watanabe, Maki K. Habib, Kiyotaka Izumi
International Journal of Mechatronics and Manufacturing Systems (IJMMS), Vol. 3, No. 3/4, 2010

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.

Online publication date: Mon, 10-May-2010

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