Using speech to guide a mobile robot manipulator

Abstract

Mobile manipulators are mobile robot bases with at least one mounted robot arm which function in an integrated manner. A single arm mobile manipulator guided by speech commands is presented. The purpose of the mobile manipulator is to reach concrete locations in its environment and to pick up objects. The user can interact verbally with the system to help it localize and identify new objects, as well as incorporate them to its database of learned objects. The overall system is capable of recognizing speech commands, interpret them and execute the corresponding action. Human-robot interaction via speech has also been tested using different examples. Our approach supports the fact that the key to successful service robots is an adequate human-robot interface.