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http://dx.doi.org/10.21289/KSIC.2018.21.1.017

A Study on Stable Motion Control of Humanoid Robot with 24 Joints Based on Voice Command  

Lee, Woo-Song (SUNJIN TECHNOLOGY Co., Ltd.)
Kim, Min-Seong (Dept. of advanced engineering, Kyungnam University)
Bae, Ho-Young (Manigerment & Industy Graduate School Kyungnam University)
Jung, Yang-Keun (Shinra Information Technology Co., Ltd.)
Jung, Young-Hwa (Daehotek Co., Ltd.)
Shin, Gi-Soo (ANYTOY Co., Ltd.)
Park, In-Man (lntem Co., Ltd.)
Han, Sung-Hyun (Dept. of Mechanical Engineering, Kyungnam University)
Publication Information
Journal of the Korean Society of Industry Convergence / v.21, no.1, 2018 , pp. 17-27 More about this Journal
Abstract
We propose a new approach to control a biped robot motion based on iterative learning of voice command for the implementation of smart factory. The real-time processing of speech signal is very important for high-speed and precise automatic voice recognition technology. Recently, voice recognition is being used for intelligent robot control, artificial life, wireless communication and IoT application. In order to extract valuable information from the speech signal, make decisions on the process, and obtain results, the data needs to be manipulated and analyzed. Basic method used for extracting the features of the voice signal is to find the Mel frequency cepstral coefficients. Mel-frequency cepstral coefficients are the coefficients that collectively represent the short-term power spectrum of a sound, based on a linear cosine transform of a log power spectrum on a nonlinear mel scale of frequency. The reliability of voice command to control of the biped robot's motion is illustrated by computer simulation and experiment for biped walking robot with 24 joint.
Keywords
Biped robot; Voice command; Smart factory; Real-time implementation;
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