Continuous vocalization control of a full-scale assistive robot

Mike Chung, Eric Rombokas, Qi An, Yoky Matsuoka, Jeff Bilmes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

We present a physical robotic arm performing real-world tasks using continuous non-verbal vocalizations for control. Vocalization control provides fewer degrees of control freedom than are necessary to directly control complex robotic platforms. To bridge this gap, we evaluated three control methods: direct joint angle control of a selectable subset of joints, inverse kinematics control of the end effector, and control in a reduced-dimensionality synergy space. The synergy method is inspired by neural solutions to biological body redundancy problems. We conducted several evaluations of the three methods involving the real-world tasks of water bottle recycling and grocery bag moving. Users with no prior exposure to the system were able to perform these tasks effectively and were able to learn to be more efficient. This study demonstrates the feasibility of continuous non-verbal vocalizations for control of a full-scale assitive robot in a realistic context.

Original languageEnglish
Title of host publication2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
Pages1464-1469
Number of pages6
DOIs
Publication statusPublished - Oct 18 2012
Externally publishedYes
Event2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012 - Rome, Italy
Duration: Jun 24 2012Jun 27 2012

Publication series

NameProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
ISSN (Print)2155-1774

Other

Other2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012
CountryItaly
CityRome
Period6/24/126/27/12

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Biomedical Engineering
  • Mechanical Engineering

Fingerprint Dive into the research topics of 'Continuous vocalization control of a full-scale assistive robot'. Together they form a unique fingerprint.

Cite this