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LLM-Based Spatial Information Processing and Voice Command Actions for Serving robots

Transactions of the Korean Institute of Electrical Engineers 2025年第4期74卷 635-643页

作者： Park, Myeonggeun H., Lee W., Kwon Polaris Research Polaris3D Korea Republic of Intelligent Robot System Research Section Daegu-Gyeongbuk Research Center ETRI Korea Republic of

This study proposes an integrated framework to enhance the autonomy and user interaction of serving robots. By combining spatial information processing, speech recognition, and large language models (LLMs), the system improves efficiency and usability in complex environments. It enables precise task execution and enhances user interaction through intuitive speech commands and natural language understanding. The framework also boosts operational efficiency, allowing robots to navigate autonomously and respond to commands in real-time. This approach advances both robot autonomy and user experience, offering a new paradigm in service robotics. © The Korean Institute of Electrical Engineers.

关键词： Speech recognition

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Background Subtraction-based Unlearned Hazardous Object Detection Algorithm for Ceiling Environments

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Journal of Institute of Control, robotics and systems 2025年第4期31卷 334-342页

作者： Jeon, Jae Woo Kim, Sung Jae Suh, Jin Ho Department of Intelligent Robot Engineering Pukyong National University Korea Republic of The Industrial Science Technology Research Center Pukyong National University Korea Republic of Major of Mechanical System Engineering Pukyong National University Korea Republic of

We propose a background subtraction-based algorithm that uses images from an RGB-D camera to detect unlearned hazardous objects in ceiling environments, thereby facilitating efficient ceiling exploration. We constructed a dataset by compiling various images of ceiling structures and employed the YOLOv8s-seg model to recognize ceiling components. Recognized ceiling structures and regions exceeding a specified depth threshold were designated as background and removed in the first stage. A U-map based on depth information was then used to detect object regions, which enabled the identification of various types of potentially hazardous objects. The positions of the detected objects were continuously updated using a Kalman filter based tracking model, and their relative positions were visually displayed on a 2D map. To validate the performance of the algorithm, we implemented it in a system and conducted hazardous object detection experiments in a ceiling-simulated testbed and an actual ceiling environment. The findings confirmed the applicability of the algorithm in real-world settings. © ICROS 2025.

关键词： Kalman filters

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Gesture Recognition of sEMG Based on Res-LSTM 17th

Gesture Recognition of sEMG Based on Res-LSTM

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17th International Conference on intelligent robotics and Applications, ICIRA 2024

作者： Zhao, Yujia Zou, Chunlong Yun, Juntong Jiang, Du Huang, Li Liu, Ying Jiang, Guozhang Xie, Yuanmin Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology Wuhan430081 China College of Mechanical Engineering Hubei University of Automotive Technology Shiyan442000 China Research Center for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology Wuhan430081 China Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology Wuhan430081 China Hubei Province Key Laboratory of Intelligent Information Processing and Real-Time Industrial System Wuhan University of Science and Technology Wuhan430081 China College of Computer Science and Technology Wuhan University of Science and Technology Wuhan430081 China School of Mechanical Engineering Hubei Engineering University Xiaogan432000 China

ISBN: (纸本)9789819607761

sEMG (surface electromyography) signal control of bionic prostheses has been widely studied over the past few years. In particular, sparse sEMG signals are rapidly developing in the field of gesture recognition for their convenience, noninvasiveness, and ease of access. However, compared with high-density EMG signals, sparse EMG signals lack rich feature information, which in turn affects gesture recognition accuracy. In order to reduce the loss of feature information of sparse EMG signals in the spatio-temporal dimension, this paper proposes a hybrid neural network Res-LSTM combining residual network and long short-term memory network. The ordinary convolutional blocks in the CNN network are replaced with residual blocks, and the final fully connected layer is removed and a constant mapping layer is added to adequate extraction of spatial feature information of the data. The Res layer’s output is utilized as the input for the long and short-term memory (LSTM) network, which further extracts the features of the data in the temporal dimension, and finally completes the categorization output through a fully connected layer. The average accuracy of 91.11% for gesture-motion classification was verified by training on a homebrew dataset;and tested on a public dataset, NinaPro DB1, with an average accuracy of 91.03%. The experimental findings indicate that the proposed Res-LSTM network framework contributes to solving the problem of lack of feature information of sparse sEMG signals and improves the pattern recognition accuracy. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Gesture recognition

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When Shannon Meets Nonstochastic Information: Communication and Estimation

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IEEE Transactions on Automatic Control 2025年

作者： Zhang, Wentao Zuo, Zhiqiang Zhao, Rui Wang, Yijing Hu, Guoqiang Zhang, Hui Wang, Yaonan Hunan University School of Robotics Changsha410082 China Nanyang Technological University Continental-NTU Corporate Lab Singapore639798 Singapore Tianjin University Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System School of Electrical and Information Engineering Tianjin300072 China Nanyang Technological University School of Electrical and Electronic Engineering Singapore639798 Singapore National Engineering Research Center for Robot Visual Perception and Control Changsha410082 China Hunan University College of Electrical and Information Engineering Changsha410082 China

This notes focuses on the issue of whether or not the state of a plant can be estimated when the inputs of communication channel involve noise and disturbance simultaneously. It turns out to calculate the maximum capacity of stationary memoryless multiple quasi-access channel under nonstochastic information theory. It is shown that the maximum information rate over such a channel is determined by a convex hull spanned by the zero-error capacities which are specified on the underlying sample spaces. Moreover, the state of a plant could be estimated provided that the maximal information rate is strictly greater than the topology entropy. © 1963-2012 IEEE.

关键词： Communication channels (information theory)

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An information collection system of network intelligence wheelchair based on ZigBee Wireless Sensor Networks

An information collection system of network intelligence whe...

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2010 2nd International Conference on Industrial and Information systems, IIS 2010

作者： Yi, Zhang Qi, Yu-Chao Luo, Yuan Chongqing University of Posts and Telecommunications Research Center of Intelligent System and Robot Chongqing China

ISBN: (纸本)9781424482177

In order to realize Remote Monitoring of wheelchair's user and Home environment, ZigBee-based network intelligent wheelchair system has been designed by using Wireless Sensor Networks, intelligent wheelchair, and communication modules. The system works on the existing TD-SCDMA network. This paper introduces the working principle, hardware and software designing. The design of sensor nodes, network construction, and communication in wireless sensor network is described in detail. Experiments results prove that the collection and transmission of information can be achieved. The purpose of remote monitoring has been achieved. This system has high practical value. © 2010 IEEE.

关键词： Zigbee

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A novel intelligent wheelchair control approach based on head gesture recognition

A novel intelligent wheelchair control approach based on hea...

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2010 International Conference on Computer Application and system Modeling, ICCASM 2010

作者： Hu, Zhang-Fang Li, Lin Luo, Yuan Zhang, Yi Wei, Xing Research Center of Intelligent System and Robot Chongqing University of Posts and Telecommunications Chongqing China

ISBN: (纸本)9781424472369

intelligent wheelchair plays a more and more important role in modern society, and the harmonious human-wheelchair interaction becomes one of the pop research subjects. In this paper, a novel intelligent wheelchair based on head gesture recognition approach is researched. By comparing the location of the lips with a fixed rectangular window, the head gesture commands are determined, including head up, head down, turn left, turn right, and the intelligent wheelchair movement such as turn left, turn right, forward, backward are determined correspondingly. Experiments show that this approach can achieve the purpose of controlling the intelligent wheelchair by head gestures. © 2010 IEEE.

关键词： Wheelchairs

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A novel head gesture recognition means in the human-wheelchair interaction

A novel head gesture recognition means in the human-wheelcha...

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2010 International Conference on Computer Application and system Modeling, ICCASM 2010

作者： Luo, Yuan Hu, Zhang-Fang Yizhang, Lin Li Research Center of Intelligent System and Robot Chongqing University of Posts and Telecommunications Chongqing China

ISBN: (纸本)9781424472369

As an intelligent human-wheelchair interaction ways, head gesture becomes one of the most pop research topics, and the head gesture recognition is an important aspect of the interactions. In this paper, kalman filter forecast the lips position detected by Adaboost algorithm may be appeared in the next frames first, and then detect the lips in the next frame. Compare the lips window position with a fixed point to confirm the head gesture correspondingly. Kalman filter overcome detect all the possible lips position by just use the Adaboost algorithm in every frame , greatly improve the lips detection precision and reduce the detection time, solve the wheelchair's time delay. © 2010 IEEE.

关键词： Kalman filters

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The design and implementation of information accessibility human-robot interaction system based on wrist gesture

The design and implementation of information accessibility h...

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2011 Cross Strait Quad-Regional Radio Science and Wireless Technology Conference, CSQRWC 2011

作者： Zhang, Yi Li, Xiang Research Center of Intelligent System and Robot Chongqing University of Posts and Telecommunications Chongqing 400065 China

ISBN: (纸本)9781424497904

Human-robot Interaction is one of the key technologies of robot research. In order to achieve Information Accessibility Human-robot Interaction system based on wrist gesture. In this article, the wrist-controller is self-designed and fuzzy reasoning method is used for real-time detection of the wrist. By bending the wrist to control the state of the robot's movement, the Human-robot Interaction system based on Wrist gesture is implemented. The results of experiment show that the robot's movement is very good. © 2011 IEEE.

关键词： Human robot interaction

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Obstacle Avoidance Strategy of AGV Formation based on Time Efficiency First 2

Obstacle Avoidance Strategy of AGV Formation based on Time E...

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2017 IEEE 第2届先进信息技术,电子与自动化控制国际会议(IAEAC 2017)

作者： Huichao Wu Yuan Luo Qianneng Zhou Junjie Li College of Optoelectronic Engineering Chongqing University of Posts and Telecommunications Research Center of Intelligent System and Robot Chongqing University of Posts and Telecommunications

To overcome the high time consumption, unreasonable rotation and poor environment adaptability in obstacle avoidance of wheeled robots formation, a strategy combining heuristic path planning function

ISBN: (纸本)9781467389808

To overcome the high time consumption, unreasonable rotation and poor environment adaptability in obstacle avoidance of wheeled robots formation, a strategy combining heuristic path planning function

关键词： Collision avoidance robots Path planning Wheels Algorithm design and analysis Simulation Shape

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A wave-powered ocean robot integrated with umbrella-shaped wave energy converter

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Energy 2025年 328卷

作者： Lu, Yunfei Wang, Bingbing Zhou, Boen Zhou, Songlin Chen, Weixing State Key Laboratory of Mechanical System and Vibration School of Mechanical Engineering Shanghai Jiao Tong University Shanghai200240 China Research Center of Marine Intelligent Equipment and Robot Institute of Marine Equipment Shanghai Jiao Tong University Shanghai China

Extracting energy from waves offers a promising solution for ocean robots to address energy limitations and extend operational time. However, the compact size of ocean robots and the random nature of waves impose significant design challenges for wave energy converters. In response to these problems, this paper proposes an ocean robot that adopts a dual-mode operation principle and integrates an umbrella-shaped wave energy converter (U-WEC). In U-WEC mode, the robot deploys four foldable wings to harvest wave energy, while in robot mode, it folds the wings for a compact structure. The robot in U-WEC mode is designed with central symmetry and a float with low natural frequency, ensuring the adaptability to waves with random directions and low frequency. The operation principle of the robot is detailed along with the structure design. Then, a hydrodynamic model is established to calculate the motion responses of the robot in U-WEC mode. In the wave tank experiment, the dual-mode operation principle is first validated and then the wave energy conversion performance is tested, achieving an average power output of 2.59 W. Based on the proposed model verified with experimental results, the robot demonstrates insensitivity to wave directions and the capability to harness low-frequency waves, confirming its feasibility and potential for practical applications. © 2025 Elsevier Ltd

关键词： intelligent robots

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