Added: Dec 20, 2011

From: laasgepetto

Duration: 1:38

P. F. Dominey, A. Mallet and E. Yoshida. Progress in Programming the HRP-2 Humanoid Using Spoken Language. In IEEE International Conference on Robotics and Automation. Roma (Italy), 2007. In order for humans and robots to cooperate in an effective manner, it must be possible for human users to efficiently communicate to the robot its role in accomplishing the coordinated task. Spoken language is an obvious candidate. The current resarch analyses how spoken language can be used by human users to communicate with the HRP-2 humanoid to program the robot's behavior in a cooperative task. The task involves the humans and the HRP-2 working together to assemble a piece of furniture. The objectives of the system are to 1. Allow the human to impart knowlefge of how to accomplish a cooperative task to the robot, i.e. to program the robot, in the form of a sensory-motor action plan. @. To do this in a semi-natural and real-time manner using spoken language. In this framework, a system for Spoken Language Programming (SLP) is presented, and experimental results are presented from this prototype system. In Experiement 1, the human programs the robots to assist in assembling a small table. In Experiment 2, the generalization of the system is demonstrated as the user programs the robot to assist in taking the table apart. The SLP is evaluated in terms of the changes in efficiency as revealed by task completion time and number of command operations required to accomplish the tasks. Lessons learned are discussed, along with plans for improving the system, including developing a richer base of robot action and perception predicateds that will allow the use of richer language.

Channel: Tech

Rating: ( ratings)    Views: 64    Comments: 0