Voice-controlled smart speakers are popular due to Amazon Echo and Google Home. Though many smart speakers have appeared in the market, we do not know the exact performance of smart speakers. In particular, when we call a smart speaker to issue a voice command, we recognize that the smart speaker is ready when it turns its LED lamps on. The wake-up response time is important for improving user experience. Therefore, we have to measure the wake-up response time, which requires the video analysis of smart speaker LED's status for the voice command. In this work, we present a smart speaker wake-up response time measurement method with a camera. We record video files with camera while testing a smart speaker and analyze image similarity to find a wake-up event. For this purpose, we use the Google Inception-v3 model to improve the accuracy of detecting the image change of a small area.

KIST service robot is composed of a mobile platform, a 6 DOF robotic manipulator, and a multi-fingered robotic hand. We discuss motion control and coordination strategy in order to deal with uncertainty problem in practical applications. A door opening is our target task. Since the environment is not prepared for a service robot, it is essential to deal with various uncertainties due to a robot positioning error, sensing error, as well as manipulation errors. In this paper, practical parameter estimation schemes are proposed from the viewpoint of coordinative motion control of a hand, a manipulator and a mobile robot. Analysis of physical properties of each component provides a methodology of appropriate role assignment for each component. In order to carrying out compliance control, an external force is computed using fingertip force information of the three fingered robot hand, instead of using force torque sensor at the wrist. Presented experimental result clearly shows the effectiveness of the proposed scheme.