Speech as a High Level Control for Tele-operated Manipulator Arm

In this paper, a tele-operated system for a robot arm of several degrees of freedom is designed and controlled by the operator, in witch voice control mode occur to carry out remote tasks. A voice command system for the manipulator arm is implemented as a high level control design and compared to a low level control design based on joystick. The high level control paradigm adopted is based on a spotted words recognition system using stochastic model, robust HMM （Hidden Markov Model） with cepstral coefficients as parameters witch is used in automatic speech recognition system. To implement the approach on a real-time application, a personal computer USB interface was designed to transmit commands via Bluetooth components to control the movement of a robot arm （the TR-45）. The user can control the movements of four degree of freedom （DOF） for TR-45 using a vocal phrase containing spotted words or using a joystick.