Fusion of voice, gesture, and human-computer interface controls for remotely operated robot
Fusion of voice, gesture, and human-computer interface controls for remotely operated robot
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融合语音、手势和人机界面控制的远程操作机器人
DOI：
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发表时间：
2005
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影响因子：
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通讯作者：
Peter Bajcsy
中科院分区：
文献类型：
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作者：
Peter Bajcsy
本文介绍了一种机器人遥操作系统的概述，使用语音，手势和人机界面（HCI）控制。该系统由三个基本软件组件组成，包括（a）从多个输入获取和识别控制命令，（B）客户端-服务器网络通信，以及（c）机器人及其手臂的命令融合和执行。用于识别控制命令的输入来自（1）有线或无线麦克风，（2）安装在人手臂上的有线方向传感器，以及（3）HCI设备，例如鼠标、键盘或具有控制命令序列的文本文件。这套手势命令是基于美国海军的词典，用于在地面上导航飞机。通过（a）分析时间延迟和（B）向命令和发出这些命令的客户端分配不同的优先级来执行多个命令的融合。在机器人执行选定的命令之前，考虑一致和冲突的命令。对于紧急控制，视频信号被发送到监控站。
This paper presents an overview of a robot teleoperation system using voice, gesture, and human-computer interface (HCI) controls. The system consists of three basic software components including (a) acquisition and recognition of control commands from multiple inputs, (b) client-server network communication, and (c) command fusion and execution by a robot and its arm. The inputs for recognition of control commands come from (1) wired or wireless microphones, (2) wired orientation sensors mounted on human arms, and (3) HCI devices, such as a mouse, a keyboard or a text file with the sequence of control commands. The set of gesture commands is based on the US Navy lexicon for navigating aircrafts on the ground. Fusion of multiple commands is performed by (a) analyzing time delays and (b) assigning different priorities to commands and the clients issuing those commands. Consistent and conflicting commands are considered before a selected command is executed by a robot. For an emergency control, a video signal is sent to a monitoring station.