We use a grammar-based recognition parser named “Julian”. This is open-source software and is developed by Kyoto University, Nara Institute of Science and Technology,andsoon[10]. JulianisanotherversionofJulius which performs grammar-based recognition. Julius is an open-sourcelargevocabularycontinuousspeechrecognitionengine. Juliancanperformspeechrecognitionbased on a written grammar. The grammar describes possible syntax or patterns of words on a specific task. When a speech input is given, Julian searches for the most likely word sequence under constraint of the given grammar. Furthermore,inoursystem,theforwardrunningspeed is set at 1.8 km/h, and backward speed is set at 1.4 km/h