Difference between revisions of "Speech Recognition"

Latest revision as of 15:32, 22 February 2011

Introduction

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.

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

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

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

@@ Line 1: / Line 1: @@
-== Speech Recognition on Robotino ==
+==Introduction==
+{|cellspacing="20" cellpadding="10"
+|- style="vertical-align:top"
+|[[Image: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}}
+! style="text-align:left; width:20em; background-color:#dddddd"|
+=== Package links ===
+[[downloads#CF card images|CF card images]]
-Robotino can now comprehend basic human speech commands. Robotino uses the open source speech recognition engine called Julius.
+[http://julius.sourceforge.jp/en_index.php Julius]
+|}
-== Setting up Speech Recognition ==
+==Speech recognition==
-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.
+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]]
-=== Creating an Acoustic Model ===
+==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
-The HTK toolkit (version 3.4) shall be used to create an acoustic model. Please follow the following steps.
+<pre>SUBSYSTEMS=="usb", KERNEL=="hiddev[0-9]*", SYSFS{idVendor}=="046d", SYSFS{idProduct}=="0a12", RUN+="/usr/local/OpenRobotinoAPI/1/daemons/srd.sh start", SYMLINK+="headset"
-==== Step 1 ====
-You will need to [http://htk.eng.cam.ac.uk/register.shtml register] with HTK before you can download it. Please do so.
-==== Step 2 ====
-Download the sources for HTK toolkit 3.4 from [http://htk.eng.cam.ac.uk/ftp/software/HTK-3.4.tar.gz here].
-Also download the HTK samples from [http://htk.eng.cam.ac.uk/ftp/software/HTK-samples-3.4.tar.gz here].
-==== Step 3 ====
-* Move to your home directory
-<pre> cd ~ </pre>
-* Create a directory called bin
-<pre> mkdir bin </pre>
-* Unpack the downloaded HTK toolkit sources and HTK samples in a folder called htk-3.4 in the bin directory. The bin directory should look as follows
-<pre>
-ls bin
-htk-3.4 samples
 </pre>
+udev runs ''"/usr/local/OpenRobotinoAPI/1/daemons/srd.sh start"''
-*Move the samples folder to the htk-3.4 folder as follows
+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].
-<pre>
-cd bin
-mv samples htk-3.4
-</pre>
-* If you have a newer version of the gcc compiler (version 4 or above), you will need to install gcc version 3.4 so that HTK will compile properly. Use the following gcc's version command to see which version is installed on your system
+''"/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"''.
-<pre>gcc -v</pre>
-* If your gcc version is 4 and above, follow the listed commands to install gcc 3.4
+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.
-<pre>
-sudo apt-get install gcc-3.4
-sudo rm /usr/bin/gcc
-sudo ln -s /usr/bin/gcc-3.4 /usr/bin/gcc
-</pre>
-* Install the external dependencies as follows
+==Commands recognized by Robotino==
-<pre>
-sudo apt-get install libx11-dev libesd0-dev libasound2-dev libzip1 flex
-</pre>
-* Now move to the htk-3.4 dir and configure htk as follows. Note change %yourusername% from the command to your user name.
+Robotino can currently recognize the following commands:
-<pre>
-cd htk-3.4
-./configure --prefix=/home/%yourusername%/bin/htk-3.4
-</pre>
-* Now run make all and make install. This should install the created binaries to the folder /home/yourusername/bin/htk-3.4/bin .
 <pre>
-make all
+ROBOTINO STOP
-make install
-</pre>
-* Change directory back to home and create a folder called voxforge and then a folder called HTK_scripts in the voxforge folder.
+ROBOTINO ROTATE *NUMBER* DEGREES
-<pre>
+ROBOTINO ROTATE *NUMBER* *NUMBER* DEGREES
-cd ~
+ROBOTINO ROTATE *NUMBER* *NUMBER* *NUMBER* DEGREES
-mkdir voxforge
-cd voxforge
-mkdir HTK_scripts
-cd HTK_scripts
-</pre>
-* Now copy some scripts from the htk-3.4/samples folder to the HTK_scripts folder as follows
+ROBOTINO ROTATE MINUS *NUMBER* DEGREES
-<pre>
+ROBOTINO ROTATE MINUS *NUMBER* *NUMBER* DEGREES
-cp ../../bin/htk-3.4/samples/RMHTK/perl_scripts/mkclscript.prl .
+ROBOTINO ROTATE MINUS *NUMBER* *NUMBER* *NUMBER* DEGREES
-cp ../../bin/htk-3.4/samples/HTKTutorial/maketrihed .
-cp ../../bin/htk-3.4/samples/HTKTutorial/prompts2mlf .
-cp ../../bin/htk-3.4/samples/HTKTutorial/prompts2wlist .
-</pre>
-* Your HTK_scripts folder should look like this
+ROBOTINO MOVE FORWARD *NUMBER* METERS
-<pre>
+ROBOTINO MOVE FORWARD *NUMBER* *NUMBER* METERS
-ls
+ROBOTINO MOVE FORWARD *NUMBER* *NUMBER* *NUMBER* METERS
-maketrihed  mkclscript.prl  prompts2mlf  prompts2wlist
+ROBOTINO MOVE FORWARD *NUMBER* CENTIMETERS
-</pre>
+ROBOTINO MOVE FORWARD *NUMBER* *NUMBER* CENTIMETERS
+ROBOTINO MOVE FORWARD *NUMBER* *NUMBER* *NUMBER* CENTIMETERS
-==== Step 4 ====
+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
-* Now we will download Julius. We shall be using pre-compiled libraries which can downloaded from [http://sourceforge.jp/projects/julius/downloads/47530/julius-4.1.5-linuxbin.tar.gz/ here]
+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
-* Once downloaded extract them to your /home/%yourusername%/bin folder. After that is done your bin folder should look like this
+ROBOTINO MOVE RIGHT *NUMBER* METERS
-<pre>
+ROBOTINO MOVE RIGHT *NUMBER* *NUMBER* METERS
-ls bin
+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
 </pre>
-==== Step 5 ====
+Examples:
-* Now you will need to update your user path which can be done as follows. First change to your home directory and edit the .bashrc file.
-<pre>
-cd ~
-gedit .bashrc
-</pre>
-* Add the following to the end of the .bashrc file. Note change %yourusername% from the command to your username.
-<pre>
-# User specific environment and startup programs for HTK
-PATH=$PATH:$HOME/bin:/home/%yourusename%/bin/htk-3.4/bin
-</pre>
-* Source your .bashrc file to reflect the changes
-<pre>
-source ~/.bashrc
-</pre>
-* Test if your HTK toolkit has been installed correctly by running the following command.
 <pre>
-HVite -V
+ROBOTINO MOVE FORWARD ONE METER
 </pre>
-:You should see an output similar to the following.
 <pre>
+ROBOTINO ROTATE ONE EIGHT ZERO DEGREES
-HTK Version Information
-Module     Version    Who    Date      : CVS Info
-HVite      3.4        CUED   25/04/06  : $Id: HVite.c,v 1.1.1.1 2006/10/11 09:55:02 jal58 Exp $
-HShell     3.4        CUED   25/04/06  : $Id: HShell.c,v 1.1.1.1 2006/10/11 09:54:58 jal58 Exp $
-HMem       3.4        CUED   25/04/06  : $Id: HMem.c,v 1.1.1.1 2006/10/11 09:54:58 jal58 Exp $
-HLabel     3.4        CUED   25/04/06  : $Id: HLabel.c,v 1.1.1.1 2006/10/11 09:54:57 jal58 Exp $
-HMath      3.4        CUED   25/04/06  : $Id: HMath.c,v 1.1.1.1 2006/10/11 09:54:58 jal58 Exp $
-HSigP      3.4        CUED   25/04/06  : $Id: HSigP.c,v 1.1.1.1 2006/10/11 09:54:58 jal58 Exp $
-HWave      3.4        CUED   25/04/06  : $Id: HWave.c,v 1.1.1.1 2006/10/11 09:54:59 jal58 Exp $
-HAudio     3.4        CUED   25/04/06  : $Id: HAudio.c,v 1.1.1.1 2006/10/11 09:54:57 jal58 Exp $
-HVQ        3.4        CUED   25/04/06  : $Id: HVQ.c,v 1.1.1.1 2006/10/11 09:54:59 jal58 Exp $
-HModel     3.4        CUED   25/04/06  : $Id: HModel.c,v 1.2 2006/12/07 11:09:08 mjfg Exp $
-HParm      3.4        CUED   25/04/06  : $Id: HParm.c,v 1.1.1.1 2006/10/11 09:54:58 jal58 Exp $
-HDict      3.4        CUED   25/04/06  : $Id: HDict.c,v 1.1.1.1 2006/10/11 09:54:57 jal58 Exp $
-HNet       3.4        CUED   25/04/06  : $Id: HNet.c,v 1.1.1.1 2006/10/11 09:54:58 jal58 Exp $
-HRec       3.4        CUED   25/04/06  : $Id: HRec.c,v 1.1.1.1 2006/10/11 09:54:58 jal58 Exp $
-HUtil      3.4        CUED   25/04/06  : $Id: HUtil.c,v 1.1.1.1 2006/10/11 09:54:59 jal58 Exp $
-HAdapt     3.4        CUED   25/04/06  : $Id: HAdapt.c,v 1.2 2006/12/07 11:09:07 mjfg Exp $
-HMap       3.4        CUED   25/04/06  : $Id: HMap.c,v 1.1.1.1 2006/10/11 09:54:57 jal58 Exp $
-</pre>
-* Now to switch back to your original gcc version, do the following (The original version in my case was 4.3, yours may differ)
-<pre>
-sudo rm /usr/bin/gcc
-sudo ln -s /usr/bin/gcc-4.3 /usr/bin/gcc
 </pre>
-==== Step 6 ====
-Install Audacity as follows
 <pre>
-sudo apt-get install audacity
+ROBOTINO MOVE BACKWARD FOUR FIVE CENTIMETERS
 </pre>

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Difference between revisions of "Speech Recognition"

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Latest revision as of 15:32, 22 February 2011

Contents

Introduction

Package links

Speech recognition

Setup audio devices

Commands recognized by Robotino

Navigation

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Difference between revisions of "Speech Recognition"

Latest revision as of 15:32, 22 February 2011

Contents

Introduction

Package links

Speech recognition

Setup audio devices

Commands recognized by Robotino

Navigation

Wiki tools

Page tools