TY - GEN
T1 - Interpretation of fuzzy voice commands for robots based on vocal cues guided by user's willingness
AU - Buddhika, A. G.
AU - Jayasekara, P.
AU - Watanabe, Keigo
AU - Kiguchi, Kazuo
AU - Izumi, Kiyotaka
PY - 2010/12/1
Y1 - 2010/12/1
N2 - This paper proposes a method for interpretation of fuzzy voice commands based on the vocal cues. The fuzzy voice commands include fuzzy linguistic terms like "little" and quantitative meaning of such terms depends on the environmental conditions. Therefore the robot's perception of the corresponding environment is modified by acquiring the user's perception through a series of vocal cues. The user's willingness to change the robot's perception is identified based on the vocal cues to improve the adaptation process. The primitive behaviors related to the end-effector movements of a robot manipulator are considered and evaluated by a behavior evaluation network (BEN). A vocal cue evaluation system (VCES) is used to evaluate the vocal cues to adapt the robot's perception by modifying the BEN. The user's satisfactory level for the robot's movements is utilized to track the satisfaction of the user. A situation of cooperative rearrangement of the user's working space is used to illustrate the proposed system by a PA-10 robot manipulator.
AB - This paper proposes a method for interpretation of fuzzy voice commands based on the vocal cues. The fuzzy voice commands include fuzzy linguistic terms like "little" and quantitative meaning of such terms depends on the environmental conditions. Therefore the robot's perception of the corresponding environment is modified by acquiring the user's perception through a series of vocal cues. The user's willingness to change the robot's perception is identified based on the vocal cues to improve the adaptation process. The primitive behaviors related to the end-effector movements of a robot manipulator are considered and evaluated by a behavior evaluation network (BEN). A vocal cue evaluation system (VCES) is used to evaluate the vocal cues to adapt the robot's perception by modifying the BEN. The user's satisfactory level for the robot's movements is utilized to track the satisfaction of the user. A situation of cooperative rearrangement of the user's working space is used to illustrate the proposed system by a PA-10 robot manipulator.
UR - http://www.scopus.com/inward/record.url?scp=78651510549&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2010.5651087
DO - 10.1109/IROS.2010.5651087
M3 - Conference contribution
AN - SCOPUS:78651510549
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 778
EP - 783
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -