Abstract
This article proposes a method for understanding user commands based on visual attention. Normally, fuzzy linguistic terms such as “very little” are commonly included in voice commands. Therefore, a robot’s capacity to understand such information is vital for effective human-robot interaction. However, the quantitative meaning of such information strongly depends on the spatial arrangement of the surrounding environment. Therefore, a visual attention system (VAS) is introduced to evaluate fuzzy linguistic information based on the environmental conditions. It is assumed that the corresponding distance value for a particular fuzzy linguistic command depends on the spatial arrangement of the surrounding objects. Therefore, a fuzzy-logic-based voice command evaluation system (VCES) is proposed to assess the uncertain information in user commands based on the average distance to the surrounding objects. A situation of object manipulation to rearrange the user’s working space is simulated to illustrate the system. This is demonstrated with a PA-10 robot manipulator.
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This work was presented in part at the 14th International Symposium on Artificial Life and Robotics, Oita, Japan, February 5–7, 2009
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Jayasekara, A.G.B.P., Watanabe, K. & Izumi, K. Understanding user commands by evaluating fuzzy linguistic information based on visual attention. Artif Life Robotics 14, 48–52 (2009). https://doi.org/10.1007/s10015-009-0716-8
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DOI: https://doi.org/10.1007/s10015-009-0716-8