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Controlling a robot manipulator with fuzzy voice commands using a probabilistic neural network

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Abstract

Natural language commands are generated by intelligent human beings. As a result, they contain a lot of information. Therefore, if it is possible to learn from such commands and reuse that knowledge, it will be a very efficient process. In this paper, learning from such information rich voice commands for controlling a robot is studied. First, new concepts of fuzzy coach-player system and sub-coach are proposed for controlling robots with natural language commands. Then, the characteristics of the subjective human decision making process are discussed and a Probabilistic Neural Network (PNN) based learning method is proposed to learn from such commands and to reuse the acquired knowledge. Finally, the proposed concept is demonstrated and confirmed with experiments conducted using a PA-10 redundant manipulator.

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Authors and Affiliations

  1. Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, Saga, Japan

    Chandimal Jayawardena, Keigo Watanabe & Kiyotaka Izumi

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  1. Chandimal Jayawardena
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  2. Keigo Watanabe
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  3. Kiyotaka Izumi
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Correspondence to Chandimal Jayawardena.

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Jayawardena, C., Watanabe, K. & Izumi, K. Controlling a robot manipulator with fuzzy voice commands using a probabilistic neural network. Neural Comput & Applic 16, 155–166 (2007). https://doi.org/10.1007/s00521-006-0056-8

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  • DOI: https://doi.org/10.1007/s00521-006-0056-8

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