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인간과 로봇 협력작업을 위한 로봇 지능제어알고리즘 개발에 관한 연구
이우송(Woo-Song Lee),정양근(Yang-Guen Jung),박인만(In-Man Park),정종교(Jong-Gyu Jung),김희진(Hui-Jin Kim),김민성(Min-Seong Kim),한성현(Sung-Hyun Han) 한국산업융합학회 2017 한국산업융합학회 논문집 Vol.20 No.4
This study proposed a new approach to develop an Intelligent control algorithm for cooperative working of human and robot based on voice recognition. In general case of speaker verification, Gaussian Mixture Model is used to model the feature vectors of reference speech signals. On the other hand, Dynamic Time Warping based template matching techniques were presented for the voice recognition about several years ago. We converge these two different concepts in a single method and then implement in a real time voice recognition enough to make reference model to satisfy 95% of recognition performance. In this paper it was illustrated the reliability of voice recognition by simulation and experiments for humanoid robot with 18 joints.