摘要
根据老年人、残疾人的实际需求,设计了医疗服务型机器人移动本体和6自由度机械手臂,搭建了以简化隐式马科夫模型为基础的自动语音辨识控制系统。该控制系统通过人机交互系统的语音命令与键盘指令,可控制机器人运行到指定位置,控制机械手抓取物体,实现机器人的避障功能和座椅、病床两模式的自主切换。针对典型医疗服务需求,对所设计的医疗服务机器人进行了实验,实验结果表明,该机器人在人机交互指令控制下能很好地实现到达指定位置、抓取物体、避障和病床/座椅模式切换,不仅易于操作,而且性能稳定,语音系统对命令的识别率达90%以上,从而验证了该医疗服务型机器人控制系统设计的可行性和有效性。
To meet the real needs of the aged and the disabled, a medical service robot with a moving base and a 6DOF robotic arm was developed, and its control system using automatic speech recognition was designed based on an implicit hidden Markov model （HMM）. The control system can control the robot to realize different functions such as moving to a given position, manipulating an object with the robotic arm, avoiding an obstacle, and performing the seat-bed switch through its human robot interaction （HRI） unit＇ s voice instructions and keyboard commands. According to the typical requirements of the robot in the medical service, the experiments on the above mentioned functions were carried out, and the results showed that under the control of the HRI commands, the medical service robot demonstrated its advantages of high stability and easy manipulation in performing the functions, and the rate of voice command recognition was up to 90%, thus the feasibility and effectiveness of the control system design were verified.
出处
《高技术通讯》
CAS
CSCD
北大核心
2014年第7期745-751,共7页
Chinese High Technology Letters
基金
江苏省高校自然科学基金(10KJD510001)
常熟理工学院校级科研(XZ1306)资助项目
