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For problem of the low speaker-independent voice recognition rate in intelligent robots, a double threshold endpoint detection algorithm is proposed, which is able to accurately detect voice endpoints, and fractal dimension and Mel Frequency Cepstrum Coefficient (MFCC) is combined, at the same time, based on Hidden Markov Model (HMM), an intelligent robot command recognition system is proposed. In the laboratory environment, Cool Edit software is used to record voice of five men and five woman, sampling rate is 8kHz, accuracy is 16,5 command words, each word is collected 6 times, The first three pronunciation is seen as a template for voice, the rest is seen as a test voice, The experimental results show that System identification rate can reach more than 85%,and the voice feature parameters of the algorithm of MFCC mixed with fractal dimension can improve the system recognition rate and optimizes the system performance. The method used for non-specific voice intelligent recognition is feasible and effective.