Controlling an irobot using voice. The irobot doesnt have a voice module thus my team used a software called Julian with a library called Julius to give the robot input using BAM(Bluetooth module). Julius saved the voice input in the form of a file. We then scaned the file for the input if the modification time of the file is changed, thus making sure that there has been a new command.We then deleted the file and ran an infinite loop to make the code realtime. 1)Installing Julian: a)sudo apt-get install julian 2)Download julius: a)http://julius.sourceforge.jp/en_index.php#latest_version