Difference between revisions of "Speech Recognition"

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(→‎Commands recognized by Robotino)
 
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== Speech Recognition on Robotino ==
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==Introduction==
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{|cellspacing="20" cellpadding="10"
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|- style="vertical-align:top"
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|[[Image:Robotino_sr_icon_64.png]]
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|Robotino can now comprehend basic human speech commands. This feature is integrated in the v2.4 OS for both 1GB and 4GB CF cards. The setup is preconfigured for a Logitech ClearChat PC Wireless Stereo Headset. Read below how to modify the setup to fit your audio device.
 +
{{#ev:youtube|VNE9QJsZv-s}}
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! style="text-align:left; width:20em; background-color:#dddddd"|
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=== Package links ===
 +
[[downloads#CF card images|CF card images]]
  
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Robotino can now comprehend basic human speech commands. Robotino uses the open source speech recognition engine called Julius.
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[http://julius.sourceforge.jp/en_index.php Julius]
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|}
  
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== Setting up Speech Recognition ==
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==Speech recognition==
  
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Setting up speech recognition is done in two parts. The first part involves training of the speech data and creation of the acoustic model and the second involves the actual execution of the speech recognition engine with the created acoustic model.
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Robotino has already been trained for a voice but this may not work for everyone. In case it doesn't, then a new acoustic model will have to be created for that person. There are two ways to do this
 +
#'''Recommended''' The acoustic model is created by us and we just need your training data -> [[Recording data for speech recognition training]]
 +
#[[Creating the acoustic model yourself]]
  
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=== Creating an Acoustic Model ===
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==Setup audio devices==
 +
When the Logitech ClearChat headset is plugged into Robotino's USB port, the udev rule ''"/etc/udev/rules.d/99-robotinosr.rules"'' matches
 +
<pre>SUBSYSTEMS=="usb", KERNEL=="hiddev[0-9]*", SYSFS{idVendor}=="046d", SYSFS{idProduct}=="0a12", RUN+="/usr/local/OpenRobotinoAPI/1/daemons/srd.sh start", SYMLINK+="headset"
 +
</pre>
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udev runs ''"/usr/local/OpenRobotinoAPI/1/daemons/srd.sh start"''
  
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The HTK toolkit (version 3.4) shall be used to create an acoustic model. Please follow the following steps.
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Copy ''"/etc/udev/rules.d/99-robotinosr.rules"'' to ''"/etc/udev/rules.d/99-myheadset.rules"'' and modify the new rule to fit your hardware. How to do this can be read [http://wiki.ubuntuusers.de/UDEV here].
  
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==== Step 1 ====
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''"/usr/local/OpenRobotinoAPI/1/daemons/srd.sh"'' uses the ''"/usr/local/OpenRobotinoAPI/1/daemons/configure_alsa.sh"'' to write a valid alsa configuration to ''"/root/.asoundrc"''. The audo interface from which card and device number are taken is given in ''"/etc/robotino/sr/devicename"''. Modify this file to match the output from ''"aplay -l"''.
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You will need to [http://htk.eng.cam.ac.uk/register.shtml register] with HTK before you can download it. Please do so.
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==== Step 2 ====
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Test the setup by running ''"/usr/local/OpenRobotinoAPI/1/daemons/configure_alsa.sh"'' and see if ''"/root/.asoundrc"'' is reasonable. Then run ''"/usr/local/OpenRobotinoAPI/1/daemons/srd.sh start"''. If this works test your udev rule by detaching and reattaching your USB audio device and see if srd comes up.
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Download the sources for HTK toolkit 3.4 from [http://htk.eng.cam.ac.uk/ftp/software/HTK-3.4.tar.gz here].
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==== Step 3 ====
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==Commands recognized by Robotino==
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* Move to your home directory
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<pre> cd ~ </pre>
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Robotino can currently recognize the following commands:
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* Create a directory called bin
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<pre> mkdir bin </pre>
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<pre>
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* Unpack the downloaded HTK toolkit sources in a folder called htk-3.4 in the bin directory. The bin directory should look as follows
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ROBOTINO STOP
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<pre>  
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$ ls bin
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ROBOTINO ROTATE *NUMBER* DEGREES
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htk-3.4
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ROBOTINO ROTATE *NUMBER* *NUMBER* DEGREES
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ROBOTINO ROTATE *NUMBER* *NUMBER* *NUMBER* DEGREES
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 +
ROBOTINO ROTATE MINUS *NUMBER* DEGREES
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ROBOTINO ROTATE MINUS *NUMBER* *NUMBER* DEGREES
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ROBOTINO ROTATE MINUS *NUMBER* *NUMBER* *NUMBER* DEGREES
 +
 
 +
ROBOTINO MOVE FORWARD *NUMBER* METERS
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ROBOTINO MOVE FORWARD *NUMBER* *NUMBER* METERS
 +
ROBOTINO MOVE FORWARD *NUMBER* *NUMBER* *NUMBER* METERS
 +
ROBOTINO MOVE FORWARD *NUMBER* CENTIMETERS
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ROBOTINO MOVE FORWARD *NUMBER* *NUMBER* CENTIMETERS
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ROBOTINO MOVE FORWARD *NUMBER* *NUMBER* *NUMBER* CENTIMETERS
 +
 
 +
ROBOTINO MOVE BACKWARD *NUMBER* METERS
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ROBOTINO MOVE BACKWARD *NUMBER* *NUMBER* METERS
 +
ROBOTINO MOVE BACKWARD *NUMBER* *NUMBER* *NUMBER* METERS
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ROBOTINO MOVE BACKWARD *NUMBER* CENTIMETERS
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ROBOTINO MOVE BACKWARD *NUMBER* *NUMBER* CENTIMETERS
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ROBOTINO MOVE BACKWARD *NUMBER* *NUMBER* *NUMBER* CENTIMETERS
 +
 
 +
ROBOTINO MOVE LEFT *NUMBER* METERS
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ROBOTINO MOVE LEFT *NUMBER* *NUMBER* METERS
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ROBOTINO MOVE LEFT *NUMBER* *NUMBER* *NUMBER* METERS
 +
ROBOTINO MOVE LEFT *NUMBER* CENTIMETERS
 +
ROBOTINO MOVE LEFT *NUMBER* *NUMBER* CENTIMETERS
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ROBOTINO MOVE LEFT *NUMBER* *NUMBER* *NUMBER* CENTIMETERS
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 +
ROBOTINO MOVE RIGHT *NUMBER* METERS
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ROBOTINO MOVE RIGHT *NUMBER* *NUMBER* METERS
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ROBOTINO MOVE RIGHT *NUMBER* *NUMBER* *NUMBER* METERS
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ROBOTINO MOVE RIGHT *NUMBER* CENTIMETERS
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ROBOTINO MOVE RIGHT *NUMBER* *NUMBER* CENTIMETERS
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ROBOTINO MOVE RIGHT *NUMBER* *NUMBER* *NUMBER* CENTIMETERS
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*NUMBER* = ZERO, ONE, TWO, THREE, FOUR, FIVE, SIX, SEVEN, EIGHT, NINE
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</pre>
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Examples:
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<pre>
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ROBOTINO MOVE FORWARD ONE METER
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</pre>
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<pre>
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ROBOTINO ROTATE ONE EIGHT ZERO DEGREES
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</pre>
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<pre>
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ROBOTINO MOVE BACKWARD FOUR FIVE CENTIMETERS
 
</pre>
 
</pre>

Latest revision as of 15:32, 22 February 2011

Introduction

Robotino sr icon 64.png Robotino can now comprehend basic human speech commands. This feature is integrated in the v2.4 OS for both 1GB and 4GB CF cards. The setup is preconfigured for a Logitech ClearChat PC Wireless Stereo Headset. Read below how to modify the setup to fit your audio device.

{{#ev:youtube|VNE9QJsZv-s}}

Package links

CF card images

Julius

Speech recognition

Robotino has already been trained for a voice but this may not work for everyone. In case it doesn't, then a new acoustic model will have to be created for that person. There are two ways to do this

  1. Recommended The acoustic model is created by us and we just need your training data -> Recording data for speech recognition training
  2. Creating the acoustic model yourself

Setup audio devices

When the Logitech ClearChat headset is plugged into Robotino's USB port, the udev rule "/etc/udev/rules.d/99-robotinosr.rules" matches 

SUBSYSTEMS=="usb", KERNEL=="hiddev[0-9]*", SYSFS{idVendor}=="046d", SYSFS{idProduct}=="0a12", RUN+="/usr/local/OpenRobotinoAPI/1/daemons/srd.sh start", SYMLINK+="headset"

udev runs "/usr/local/OpenRobotinoAPI/1/daemons/srd.sh start"

Copy "/etc/udev/rules.d/99-robotinosr.rules" to "/etc/udev/rules.d/99-myheadset.rules" and modify the new rule to fit your hardware. How to do this can be read here.

"/usr/local/OpenRobotinoAPI/1/daemons/srd.sh" uses the "/usr/local/OpenRobotinoAPI/1/daemons/configure_alsa.sh" to write a valid alsa configuration to "/root/.asoundrc". The audo interface from which card and device number are taken is given in "/etc/robotino/sr/devicename". Modify this file to match the output from "aplay -l".

Test the setup by running "/usr/local/OpenRobotinoAPI/1/daemons/configure_alsa.sh" and see if "/root/.asoundrc" is reasonable. Then run "/usr/local/OpenRobotinoAPI/1/daemons/srd.sh start". If this works test your udev rule by detaching and reattaching your USB audio device and see if srd comes up.

Commands recognized by Robotino

Robotino can currently recognize the following commands: 

ROBOTINO STOP

ROBOTINO ROTATE *NUMBER* DEGREES
ROBOTINO ROTATE *NUMBER* *NUMBER* DEGREES
ROBOTINO ROTATE *NUMBER* *NUMBER* *NUMBER* DEGREES

ROBOTINO ROTATE MINUS *NUMBER* DEGREES
ROBOTINO ROTATE MINUS *NUMBER* *NUMBER* DEGREES
ROBOTINO ROTATE MINUS *NUMBER* *NUMBER* *NUMBER* DEGREES

ROBOTINO MOVE FORWARD *NUMBER* METERS
ROBOTINO MOVE FORWARD *NUMBER* *NUMBER* METERS
ROBOTINO MOVE FORWARD *NUMBER* *NUMBER* *NUMBER* METERS
ROBOTINO MOVE FORWARD *NUMBER* CENTIMETERS
ROBOTINO MOVE FORWARD *NUMBER* *NUMBER* CENTIMETERS
ROBOTINO MOVE FORWARD *NUMBER* *NUMBER* *NUMBER* CENTIMETERS

ROBOTINO MOVE BACKWARD *NUMBER* METERS
ROBOTINO MOVE BACKWARD *NUMBER* *NUMBER* METERS
ROBOTINO MOVE BACKWARD *NUMBER* *NUMBER* *NUMBER* METERS
ROBOTINO MOVE BACKWARD *NUMBER* CENTIMETERS
ROBOTINO MOVE BACKWARD *NUMBER* *NUMBER* CENTIMETERS
ROBOTINO MOVE BACKWARD *NUMBER* *NUMBER* *NUMBER* CENTIMETERS

ROBOTINO MOVE LEFT *NUMBER* METERS
ROBOTINO MOVE LEFT *NUMBER* *NUMBER* METERS
ROBOTINO MOVE LEFT *NUMBER* *NUMBER* *NUMBER* METERS
ROBOTINO MOVE LEFT *NUMBER* CENTIMETERS
ROBOTINO MOVE LEFT *NUMBER* *NUMBER* CENTIMETERS
ROBOTINO MOVE LEFT *NUMBER* *NUMBER* *NUMBER* CENTIMETERS

ROBOTINO MOVE RIGHT *NUMBER* METERS
ROBOTINO MOVE RIGHT *NUMBER* *NUMBER* METERS
ROBOTINO MOVE RIGHT *NUMBER* *NUMBER* *NUMBER* METERS
ROBOTINO MOVE RIGHT *NUMBER* CENTIMETERS
ROBOTINO MOVE RIGHT *NUMBER* *NUMBER* CENTIMETERS
ROBOTINO MOVE RIGHT *NUMBER* *NUMBER* *NUMBER* CENTIMETERS

*NUMBER* = ZERO, ONE, TWO, THREE, FOUR, FIVE, SIX, SEVEN, EIGHT, NINE

Examples: 

ROBOTINO MOVE FORWARD ONE METER

ROBOTINO ROTATE ONE EIGHT ZERO DEGREES

ROBOTINO MOVE BACKWARD FOUR FIVE CENTIMETERS
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