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Design and Implementation of the Voice Command Recognition and the Sound Source Localization System for Human–Robot Interaction

Published online by Cambridge University Press:  15 March 2021

M. H. Korayem Open the ORCID record for M. H. Korayem [Opens in a new window] ,
S. Azargoshasb ,
A. H. Korayem  and
Sh. Tabibian
M. H. Korayem*
Affiliation:
Robotic Research Laboratory, Center of Excellence in Experimental Solid Mechanics and Dynamics, School of Mechanical Engineering, Iran University of Science and Technology, Tehran 1684613114, Iran E-mail: azargoshasb71@gmail.com
S. Azargoshasb
Affiliation:
Robotic Research Laboratory, Center of Excellence in Experimental Solid Mechanics and Dynamics, School of Mechanical Engineering, Iran University of Science and Technology, Tehran 1684613114, Iran E-mail: azargoshasb71@gmail.com
A. H. Korayem
Affiliation:
Mechanical and Mechatronics Engineering Department, University of Waterloo, ON N2L 3G1, Canada E-mail: amin.korayem@uwaterloo.ca
Sh. Tabibian
Affiliation:
Department of Mechanical and Mechatronics Engineering, Cyberspace Research Institute, Shahid Beheshti University, Tehran, Iran E-mail: sh_tabibian@sbu.ac.ir
*
*Corresponding author. E-mail: hkorayem@iust.ac.ir
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Summary

Human–robot interaction (HRI) is becoming more important nowadays. In this paper, a low-cost communication system for HRI is designed and implemented on the Scout robot and a robotic face. A hidden Markov model-based voice command detection system is proposed and a non-native database has been collected by Persian speakers, which contains 10 desired English commands. The experimental results confirm that the proposed system is capable to recognize the voice commands, and properly performs the task or expresses the right answer. Comparing the system with a trained system on the Julius native database shows a better true detection (about 10%).

Keywords

Voice commandHuman–robot interactionHidden Markov modelSocial roboticRobotic face
Type
Article
Information
Robotica , Volume 39 , Issue 10 , October 2021 , pp. 1779 - 1790
Copyright
© Iran University of Science and Technology, 2021. Published by Cambridge University Press

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