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화자독립방식에 의한 음성인식 알고리즘 개발 및 실시간 실현에 관한 연구
정양근(Yang-geun Jung),조상영(Sang Young Jo),양준석(Jun Seok Yang),한성현(Sung Hyun Han) 한국산업융합학회 2015 한국산업융합학회 논문집 Vol.18 No.4
In this research, we proposed a new approach to implement the real-time motion control of biped robot based on voice command for unmanned FA. Voice is one of convenient methods to communicate between human and robots. To command a lot of robot task by voice, voice of the same number have to be able to be recognition voice is, the higher the time of recognition is. In this paper, a practical voice recognition system which can recognition a lot of task commands is proposed. The proposed system consists of a general purpose microprocessor and a useful voice recognition processor which can recognize a limited number of voice patterns. Given biped robots, each robot task is, classified and organized such that the number of robot tasks under each directory is net more than the maximum recognition number of the voice recognition processor so that robot tasks under each directory can be distinguished by the voice recognition command. By simulation and experiment, it was illustrated the reliability of voice recognition rates for application of the manufacturing process.
휴머노이드 로봇 관절 아암의 운동학적 해석 및 모션제어에 관한 연구
정양근(Yang-Geun Jung),임오득(O-Duek Lim),김민성(Min-Seong Kim),도기훈(Ki-Hoon Do),한성현(Sung-Hyun Han) 한국산업융합학회 2017 한국산업융합학회 논문집 Vol.20 No.1
This study proposes a new approach to Control and trajectory generation of a 8 DOF human robot arm with computational complexity and singularity problem. To deal with such problems, analytical methods for a redundant robot arm have been researched to enhance the performance of research, we propose an analytical kinematics algorithm for a 8 DOF bipped dual robot arm. Using this algorithm, it is possible to generate a trajectory passing through the singular points and intuitively move the elbow without regarding to the end-effector pose. Performance of the proposed algorithm was verified by simulation test with various conditions. It has been verified that the trajectory planning using this algorithm.
음성명령기반 26관절 보행로봇 실시간 작업동작제어에 관한 연구
조상영(Sang Young Jo),김민성(Min Sung Kim),양준석(Jun Suk Yang),구영목(Young Mok Koo),정양근(Yang Geun Jung),한성현(Sung Hyun Han) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.4
The Voice recognition is one of convenient methods to communicate between human and robots. This study proposes a speech recognition method using speech recognizers based on Hidden Markov Model (HMM) with a combination of techniques to enhance a biped robot control. In the past, Artificial Neural Networks (ANN) and Dynamic Time Wrapping (DTW) were used, however, currently they are less commonly applied to speech recognition systems. This Research confirms that the HMM, an accepted high-performance technique, can be successfully employed to model speech signals. High recognition accuracy can be obtained by using HMMs. Apart from speech modeling techniques, multiple feature extraction methods have been studied to find speech stresses caused by emotions and the environment to improve speech recognition rates. The procedure consisted of 2 parts: one is recognizing robot commands using multiple HMM recognizers, and the other is sending recognized commands to control a robot. In this paper, a practical voice recognition system which can recognize a lot of task commands is proposed. The proposed system consists of a general purpose microprocessor and a useful voice recognition processor which can recognize a limited number of voice patterns. By simulation and experiment, it was illustrated the reliability of voice recognition rates for application of the manufacturing process.