The Generation method of A Robot Task Program for multi-modal Human-Robot Interface

Abstract

not so much the humanoid robot with two arms for work and In this paper, the generation method of the task program the multi-modal interface with humans. The knowledge of the humanoid robot interacting with humans in the voice representation and the generation method of humanoid robot and the behavior of humans such as finger pointing, is task program have not also sufficiently been established. We described. The concept of object oriented programming, the have developed the humanoid robot interacting with humans case grammar, and the Conceptual Dependency theory (CD using the voice and finger pointing. In this paper, the theory) is introduced into the knowledge base of this system generation method of humanoid robot task program in this in order that the total system can be easily and naturally system is described. composed. In this system, the problem on the homonym is Humans share a wealth ofcommon knowledge. Therefore, easily solved and a robot can understand that the meaning is when a person receives a request, detailed instructions are same even if we talk to a robot with different words or often unnecessary. It would be optimal if the same were true sentences. Furthermore, termination condition of a robot task when a robot receives a request. So, the robot has to have the can be easily realized, and the robustness of robot tasks is knowledge base. Upon seeing a bolt, humans have a concept improved. that it is for fastening parts, upon seeing a hammer, that it is for By using this system architecture, it becomes easy to driving something in. Furthermore, when driving a nail with a generate the task programs of humanoid robot which hammer, humans know that the hammer must be swung fast, interacts with humans. The effectiveness was confirmed by not slow, to drive in the nail. This illustrates that each realizing actually this system using humanoid robot and mechanical part or tool has an original function. In the case of carrying out the work experiment