Publication

Abstract : This paper presents the integrated module of speech, person detection, and an assistive robotic arm. This whole project is developed in Linux Ubuntu 16.04 using robot operating system (ROS) platform in which the kinetic version is used. Speech to text and text to speech code is developed using Google API. Person detection is performed using lidar using a Kalman filter and global nearest neighbor data association algorithms. Assistive robotic arm package of Kinova Jaco is used. An external microphone is used to record the voice of a person, and RPLiDAR is used to detect, track persons, and to predict estimated 3D coordinates of a person in real time. This is an autonomous model with no manual control by any other persons, it is also a fixed system where both lidar and Kinova arm base are fixed to a table, and it can work efficiently when a person is at a distance below the 1.2 m to both lidar and arm.