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Grounding of Uncertain Force Parameters in Spoken Robot Commands

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Advances in Service and Industrial Robotics (RAAD 2019)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 980))

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Abstract

Speech-based robot instruction is a promising field in private households and in small and medium-sized enterprises. It facilitates the use of robot systems for non-experts as well as experts, even while the user executes other tasks. Considering force-based robot motions, the common approach is to map verbs to robot motions depending on the tool and the work piece. While this method works well for a wide variety of applications, it limits the user to a fixed force for a given manipulation task and does not allow extensions like “hard” or “soft”. To overcome this drawback, we contribute an approach for a defuzzification of uncertain force parameters to numerical robot motions. To proof the reliability of our approach, we apply it on a motion with varying material parameters.

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Acknowledgements

This work has partly been supported by Deutsche Forschungsgemeinschaft (DFG) under grant agreement He2696-18.

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Authors and Affiliations

  1. University of Bayreuth, 95440, Bayreuth, Germany

    Kim Wölfel & Dominik Henrich

Authors
  1. Kim Wölfel
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  2. Dominik Henrich
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Corresponding author

Correspondence to Kim Wölfel .

Editor information

Editors and Affiliations

  1. Department of Computer Science, Robotics Research Lab, Technische Universität Kaiserslautern, Kaiserslautern, Germany

    Karsten Berns

  2. Department of Electrical and Computer Engineering, Electromobility Group, Technische Universität Kaiserslautern, Kaiserslautern, Germany

    Daniel Görges

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Wölfel, K., Henrich, D. (2020). Grounding of Uncertain Force Parameters in Spoken Robot Commands. In: Berns, K., Görges, D. (eds) Advances in Service and Industrial Robotics. RAAD 2019. Advances in Intelligent Systems and Computing, vol 980. Springer, Cham. https://doi.org/10.1007/978-3-030-19648-6_23

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