Command-based voice teleoperation of a mobile robot via a human-robot interface

摘要

Verbal communication is the most natural way of human-robot interaction. Such an interaction is usually achieved by means of a human-robot interface (HRI). In this paper, a HRI is presented to teleoperate a robotic platform via the user's voice. Hence, a speech recognition system is necessary. In this work, a user-dependent acoustic model for Spanish speakers has been developed to teleoperate a robot with a set of commands. Experimental results have been successful, both in terms of a high recognition rate and the navigation of the robot under the control of the user's voice.