Research And Implementation Of Speech Control System For Quadruped Robot

With the development of science and technology, robots have been widely used in all walks of life. However, for the operation of large Hydraulic-driving robots, we still used the traditional keyboard, touch screen, rocker and so on. Voice is a more natural way of interaction, it will become the mainstream of the next generation of human-computer interaction, and it also will have a crucial role to play in the development of intelligent robots.The research of this paper is based on embedded remote control platform, and we designed the software solution based on HTK and hardware solution based on LD3321. By comparison of test result, the hardware solution is finally chosen to provide real-time off-line speech control for the robot.The main contents of this paper include:In the first chapter, this paper mainly introduces the importance and significance of speech recognition, as well as the research status of speech recognition in domestic and abroad.In the second chapter, this paper analysis the basic knowledge involved in speech recognition, and particular introduces the Hidden Markov Model (HMM) and its three basic problems.In the third chapter, this paper designs the software implementation based on HTK of speech recognition. On the basis of HTK toolkit, this paper describes in detail how to use HTK to set up development environment, extract feature parameters of speech files, train acoustical model, create the rule of grammar and dictionary, and design a simple isolated-word recognition system, laying the foundation for subsequent practical application.In the fourth chapter, this paper uses the dedicated chip LD3321 to develop the hardware environment needed by speech recognition based on V290Pub module.In the fifth chapter, by comparing the advantages and disadvantages of the two schemes, this paper select the hardware identification scheme with better denoise and false rejection to be applied to control robot actually.In the sixth chapter, the contents in this paper are summarized, the prospects for future work are put forward.