Abstract
This paper proposes methods for operating a robot with nonverbal voice using tongue positions as indices. We defined the voice by Mel Frequency Cepstral Coefficients (MFCC). MFCC are acoustic characters and they show the characteristics of the vocal tract such as the mouth and the tongue. Nonverbal voice used for operating a robot is distinguished with tongue positions in our proposed methods. These tongue positions correspond to the coordinate of the robot’s hand and it enables the operators to operate a robot intuitively. We investigated the feasibility of the methods through experiments of operating a kitchen robot. These methods can realize operating a robot intuitively in continuous values with voice and can be utilized for user-friendly system.
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