Chippu has easily learnt to recognize human speech. It uses Julius for speech recognition as explained in the previous post. The following video shows the speech recognition abilities of chippu.
As you can see, it works flawlessly. The complete source is available at the svn
http://code.google.com/p/chippu/
The rxgraph output of the system looks like this:
rxgraph
As it clearly indicates, the node named “talker” takes care of speech recognition and outputs the recognized speech as a string message named “speech”. The “voice_nav” node will then produce the control signals based on the messages of the topic “speech”, and publishes the control signals as a topic named “drive” to the “serial_node” which interfaces the Arduino.
Achu's TechBlog 
great! It’s amazing but it’s still a lot of commanding we need to command many times for many tasks. But may be you have already figured it out till now.