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 experts as well as non-experts, especially while the user executes other tasks. Besides possible verbal ambiguities and uncertainties it has to be considered that the user may have no knowledge about the robot’s capabilities. This can lead to faulty performances or even damage beyond repair which leads to a loss of trust in the robot. We present a framework, which validates verbally instructed, force-based robot motions using a physics simulation. This prevents faulty performances and allows a generation of motions even with exceptional outcomes. As a proof of concept the framework is applied to a household use-case and the results are discussed.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Beetz, M., Tenorth, M., Winkler, J.: Open-ease. In: 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 1983–1990. IEEE (2015)
Briggs, G.M., Scheutz, M.: “Sorry, I Can’t Do That”: developing mechanisms to appropriately reject directives in human-robot interactions. In: 2015 AAAI Fall Symposium Series (2015)
Bugmann, G., Pires, J.N.: Robot-by-voice: experiments on commanding an industrial robot using the human voice. Ind. Robot 32, 505–511 (2005)
Kazhoyan, G., Beetz, M.: Specializing underdetermined action descriptions through plan projection. arXiv preprint arXiv:1812.08224 (2018)
Kresse, I.: A semantic constraint-based robot motion control for generalizing everyday manipulation actions (2017)
Kunze, L., Beetz, M.: Envisioning the qualitative effects of robot manipulation actions using simulation-based projections. Artif. Intell. 247, 352–380 (2017)
Kwon, M., Huang, S.H., Dragan, A.D.: Expressing robot incapability. In: Proceedings of the 2018 ACM/IEEE International Conference on Human-Robot Interaction, pp. 87–95 (2018)
Liu, R., Zhang, X.: Methodologies realizing natural-language-facilitated human-robot cooperation: a review. CoRR arXiv:1701.08756 (2017)
Marge, M.: Miscommunication detection and recovery for spoken dialogue systems in physically situated contexts. Ph.D. thesis, Ph.D. Dissertation. Carnegie Mellon University, Pittsburgh, PA (2015)
Misra, D.K., Sung, J., Lee, K., Saxena, A.: Tell me dave: context-sensitive grounding of natural language to manipulation instructions. Int. J. Robot. Res. 35(1–3), 281–300 (2016)
Mosemann, H., Wahl, F.M.: Automatic decomposition of planned assembly sequences into skill primitives. IEEE Trans. Robot. Autom. 17(5), 709–718 (2001)
Mösenlechner, L., Beetz, M.: Fast temporal projection using accurate physics-based geometric reasoning. In: 2013 IEEE International Conference on Robotics and Automation, pp. 1821–1827. IEEE (2013)
Rockel, S., Konečnỳ, Š., Stock, S., Hertzberg, J., Pecora, F., Zhang, J.: Integrating physics-based prediction with semantic plan execution monitoring. In: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2883–2888. IEEE (2015)
Sallami, Y., Lemaignan, S., Clodic, A., Alami, R.: Simulation-based physics reasoning for consistent scene estimation in an HRI context. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019) (2019)
Sattar, J., Little, J.J.: Ensuring safety in human-robot dialog–a cost-directed approach. In: 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 6660–6666. IEEE (2014)
Tellex, S., et al.: Understanding natural language commands for robotic navigation and mobile manipulation. In: Twenty-fifth AAAI Conference on Artificial Intelligence (2011)
Wölfel, K., Henrich, D.: Grounding verbs for tool-dependent, sensor-based robot tasks. In: 2018 27th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), pp. 378–383. IEEE (2018)
Acknowledgements
This work has partly been supported by Deutsche Forschungsgemeinschaft (DFG) under grant agreement He2696-18.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this paper
Cite this paper
Wölfel, K., Henrich, D. (2020). Simulation-Based Validation of Robot Commands for Force-Based Robot Motions. In: Schmid, U., Klügl, F., Wolter, D. (eds) KI 2020: Advances in Artificial Intelligence. KI 2020. Lecture Notes in Computer Science(), vol 12325. Springer, Cham. https://doi.org/10.1007/978-3-030-58285-2_31
Download citation
DOI: https://doi.org/10.1007/978-3-030-58285-2_31
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-58284-5
Online ISBN: 978-3-030-58285-2
eBook Packages: Computer ScienceComputer Science (R0)