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+# Install Speech Recognition
+
+We use Speech Recognition for give voice orders.
+
+```bash
+# Speech Recognition: 
+sudo apt-get install libgstreamer1.0-dev
+sudo apt-get install libgstreamer-plugins-base1.0-dev
+sudo apt-get install autoconf
+sudo apt-get install bison
+
+# Installation sphinxbase
+cd
+cd repos
+git clone https://github.com/cmusphinx/sphinxbase.git
+cd sphinxbase
+./autogen.sh
+./configure
+make -j4
+make check # to be sure that all is ok
+sudo make install
+
+# Installation pocketsphinx
+cd
+cd repos
+git clone https://github.com/cmusphinx/pocketsphinx
+cd pocketsphinx
+./autogen.sh
+./configure
+make -j4 clean all
+make -j4 check
+sudo make install
+
+# We need to configure the path to look for shared libaries
+echo "export LD_LIBRARY_PATH=/usr/local/lib" >> ~/.bashrc
+echo "export PKG_CONFIG_PATH=/usr/local/lib/pkgconfig" >> ~/.bashrc
+echo "export GST_PLUGIN_PATH=/usr/local/lib/gstreamer-1.0" >> ~/.bashrc
+
+# To verify that GStreamer can find the plugin. You should get a large amount of output, ending with something like this:
+# decoder             : The underlying decoder
+#                        flags: readable
+#                        Boxed pointer of type "PSDecoder"
+
+gst-inspect-1.0 pocketsphinx
+
+# to test that all is runnin ok
+sudo modprobe snd_pcm_oss
+pocketsphinx_continuous -inmic yes
+```
+
+Our software integrates the previous dependencies. Note that you will be prompted for your password upon using '''sudo''' a couple of times:
+
+```bash
+cd  # go home
+mkdir -p repos; cd repos  # make $HOME/repos if it doesn't exist; then, enter it
+git clone https://github.com/roboticslab-uc3m/teo-head.git  # Download teo-head software from the repository
+cd teo-head; mkdir build; cd build; cmake ..  # Configure the teo-head software
+make  # Compile
+sudo make install  # Install :-)
+```
+
+You may want to (from the same build dir):
+```bash
+echo "export TEO_HEAD_DIR=`pwd`" >> ~/.bashrc
+```
+
+For additional TEO options use ccmake instead of cmake.