{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,7]],"date-time":"2026-02-07T09:28:09Z","timestamp":1770456489169,"version":"3.49.0"},"reference-count":29,"publisher":"Cambridge University Press (CUP)","issue":"10","license":[{"start":{"date-parts":[[2021,3,15]],"date-time":"2021-03-15T00:00:00Z","timestamp":1615766400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2021,10]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Human\u2013robot 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%).<\/jats:p>","DOI":"10.1017\/s0263574720001496","type":"journal-article","created":{"date-parts":[[2021,3,15]],"date-time":"2021-03-15T09:17:42Z","timestamp":1615799862000},"page":"1779-1790","source":"Crossref","is-referenced-by-count":22,"title":["Design and Implementation of the Voice Command Recognition and the Sound Source Localization System for Human\u2013Robot Interaction"],"prefix":"10.1017","volume":"39","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1344-3797","authenticated-orcid":false,"given":"M. H.","family":"Korayem","sequence":"first","affiliation":[]},{"given":"S.","family":"Azargoshasb","sequence":"additional","affiliation":[]},{"given":"A. H.","family":"Korayem","sequence":"additional","affiliation":[]},{"given":"Sh.","family":"Tabibian","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2021,3,15]]},"reference":[{"key":"S0263574720001496_ref16","doi-asserted-by":"publisher","DOI":"10.1007\/s10772-017-9467-4"},{"key":"S0263574720001496_ref19","volume-title":"International Conference on Social Robotics","author":"Elahi","year":"2017"},{"key":"S0263574720001496_ref2","doi-asserted-by":"publisher","DOI":"10.1007\/s11370-011-0098-3"},{"key":"S0263574720001496_ref7","volume-title":"International Conference on Intelligent Virtual Agents","author":"Grigore","year":"2016"},{"key":"S0263574720001496_ref23","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-014-0237-z"},{"key":"S0263574720001496_ref26","doi-asserted-by":"publisher","DOI":"10.1080\/00207179.2018.1428769"},{"key":"S0263574720001496_ref13","first-page":"11","article-title":"Mobile robot voice recognition in control movements","volume":"3","author":"Abdullahi","year":"2015","journal-title":"Int. J. Comput. Sci. Electron. Eng. (IJCSEE)."},{"key":"S0263574720001496_ref10","first-page":"47","article-title":"Implementation speech recognition for robot control using MFCC and ANFIS","volume":"5","author":"Mustofa","year":"2017","journal-title":"J. Telematics Inf. (JTI)"},{"key":"S0263574720001496_ref27","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574718001030"},{"key":"S0263574720001496_ref15","unstructured":"15. Okuno, H. G. , Nakadai, K. , Takahashi, T. , Takeda, R. , Nakamura, K. , Mizumoto, T. , Yoshida, T. , Lim, A. , Otsuka, T. , Nagira, K. and Itohara, T. , HARK Document Version 2.0. 0.(Revision: 6357)."},{"key":"S0263574720001496_ref14","first-page":"135","article-title":"Design and implementation of wireless voice controlled mobile robot","volume":"9","author":"Abed","year":"2016","journal-title":"Al-Qadisiyah J. Eng. Sci."},{"key":"S0263574720001496_ref24","doi-asserted-by":"publisher","DOI":"10.1145\/1121241.1121301"},{"key":"S0263574720001496_ref1","doi-asserted-by":"publisher","DOI":"10.1007\/s11370-016-0203-8"},{"key":"S0263574720001496_ref25","doi-asserted-by":"crossref","unstructured":"25. DiSalvo, C. F. , Gemperle, F. , Forlizzi, J. and Kiesler, S. , \u201cAll Robots are not Created Equal: The Design and Perception of Humanoid Robot Heads,\u201d Proceedings of the 4th Conference on Designing Interactive Systems: Processes, Practices, Methods, and Techniques (2002).","DOI":"10.1145\/778712.778756"},{"key":"S0263574720001496_ref12","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-011-9263-y"},{"key":"S0263574720001496_ref20","doi-asserted-by":"crossref","first-page":"179","DOI":"10.1007\/s12369-017-0461-4","article-title":"Human\u2013robot facial expression reciprocal interaction platform: Case studies on children with autism","volume":"10","author":"Pour","year":"2018","journal-title":"Int. J. Soc. Rob."},{"key":"S0263574720001496_ref17","unstructured":"17. Yoshizawa, S. , Hayasaka, N. , Wada, N. and Miyanaga, Y. , \u201cCepstral Gain Normalization for Noise Robust Speech Recognition,\u201d 2004 IEEE International Conference on Acoustics, Speech, and Signal Processing (2004)."},{"key":"S0263574720001496_ref4","doi-asserted-by":"publisher","DOI":"10.1145\/2909824.3020229"},{"key":"S0263574720001496_ref21","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-017-0433-8"},{"key":"S0263574720001496_ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ICRoM.2018.8657641"},{"key":"S0263574720001496_ref18","volume-title":"The HTK Hidden Markov Model Toolkit: Design and Philosophy","author":"Young","year":"1993"},{"key":"S0263574720001496_ref6","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-00329-6_20"},{"key":"S0263574720001496_ref8","unstructured":"8. Fardana, A. , Jain, S. , Jovan\u010devi\u0107, I. , Suri, Y. , Morand, C. and Robertson, N. , \u201cControlling a Mobile Robot with Natural Commands based on Voice and Gesture,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) (2013)."},{"key":"S0263574720001496_ref5","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-016-0357-8"},{"key":"S0263574720001496_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152858"},{"key":"S0263574720001496_ref3","doi-asserted-by":"publisher","DOI":"10.1007\/s11370-016-0207-4"},{"key":"S0263574720001496_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2016.2625818"},{"key":"S0263574720001496_ref22","doi-asserted-by":"publisher","DOI":"10.1109\/HRI.2013.6483511"},{"key":"S0263574720001496_ref28","unstructured":"28. Davouddoust, A. , Upgrading the Scout Mobile Robot, by Creating Social Interactions with Humans, Using Audio and Video Channels in a Dynamic Environment Master\u2019s Thesis (Islamic Azad University of Tehran Research Sciences, 2018)."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574720001496","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,9,8]],"date-time":"2021-09-08T10:14:12Z","timestamp":1631096052000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574720001496\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,3,15]]},"references-count":29,"journal-issue":{"issue":"10","published-print":{"date-parts":[[2021,10]]}},"alternative-id":["S0263574720001496"],"URL":"https:\/\/doi.org\/10.1017\/s0263574720001496","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,3,15]]}}}