Merge pull request #20 from dnajd/master

tests for gh 16
Merge pull request #22 from dnajd/master

added voice recognition example
tidied up standard positions. Added voice commands for some standard positions and stiffening/relaxing motor chains. Closes gh-10,gh-18
Record a key frame using voice or my pressing the chest button. Closes gh-4
fixed problem with robot connect
added safe_say() so speech recognition is not running while NAO is speaking
added speech feedback for motors on/off
added another forward and out test
added command spec for arms down
added test coverage for individual arms except back
command spec supports left and right down