A Study Of Collaborative Control Of Multiple Biped Robots Based On Voice

In this paper, HBE-ROBONOVA-AI biped humanoid robots are selected as the object of study. With the speech recognition technology applied into the research of Multi-robot collaboration control, we build a multi-biped robot platform which is based on the voice. Through analysis and design of the multi-biped robot collaborative control system which is based on speech recognition, we build this voice platform and use which we can achieve the single and multiple biped robot voice control. Using this voice platform, we conducted consistency collaborative control experiment and follow collaborative control experiment, and both of the experiments are operated on two biped robots arm. Experimental results show that the voice control platform can achieve the expected operating results and functions. The main contributions and research production of this paper are as follows:1. According to the specific requirements of the collaboration control of multi-biped robot, the design, development and debugging of smart board collaborative control program is completed in the Linux environment with the C programming language, and the design, development and debugging of the underlying action program of action board is completed in the Robo Basic environment with the Robo Basic programming language.2. Using SAPI which is provided by Microsoft Speech SDK, the speech recognition program is designed perfectly. Meanwhile to write the XML users syntax rule file which is used to identify the user dictionary of recognition and matching. The speech recognition program is designed as a MFC support classes and added to the MFC framework through which to combine the speech recognition program with MFC programming framework, after which we complete the development of multi-biped robot collaboration control platform which is based on voice.3. By designing the Communications Decency of the multi-biped robot voice control system, using UDP protocol which is come from TCP/IP protocol stack to complete the design and implementation of the system communication, and the job of standardized message processing of speech recognition. Then the unique Communications Decency of the multi-biped robot voice control system is established from the voice control platform of PC to the low-level robot control system.4. By combining the consistency collaborative control protocol and the follow collaborative control protocol of discrete system, we successfully completed the voice control implementation scheme of consistency collaborative control experiment and follow collaborative control experiment of two biped robots arm. Then we use the multi-biped robot collaboration control platform which is based on voice to carry out experimental verification. The experiment shows that this voice platform can achieve the desired operating results and functions, and meanwhile the feasibility and correctness of the collaborative control scheme is verified perfectly.