SUMMARYHuman–robot interaction (HRI) is becoming more important nowadays. In this paper, a low-cost communication system for HRI is designed and implemented on the Scout robot and a robotic face. A hidden Markov model-based voice command detection system is proposed and a non-native database has been collected by Persian speakers, which contains 10 desired English commands. The experimental results confirm that the proposed system is capable to recognize the voice commands, and properly performs the task or expresses the right answer. Comparing the system with a trained system on the Julius native database shows a better true detection (about 10%).

中文翻译：

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人机交互语音指令识别与声源定位系统的设计与实现

摘要如今，人机交互 (HRI) 变得越来越重要。在本文中，在 Scout 机器人和机器人面部上设计并实现了一种用于 HRI 的低成本通信系统。提出了一种基于隐马尔可夫模型的语音命令检测系统，并收集了波斯语使用者的非本地数据库，其中包含 10 个所需的英语命令。实验结果证实，所提出的系统能够识别语音命令，并正确执行任务或表达正确答案。将该系统与 Julius 原生数据库上经过训练的系统进行比较，显示出更好的真实检测（约 10%）。