Bericht Nr . 104 KANTRA : Human-Machine Interaction for Intelligent Robots Using Natural Language
Bericht Nr . 104 KANTRA : Human-Machine Interaction for Intelligent Robots Using Natural Language
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发表时间：
2003
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通讯作者：
T. C. Lueth;Th. Laengle;G. Herzog;E. Stopp
中科院分区：
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作者：
T. C. Lueth;Th. Laengle;G. Herzog;E. Stopp
在本文中，一个新的自然语言接口，可以应用于使智能机器人的使用更加灵活。该接口是为自主移动的双臂机器人KAMRO开发的，它使用几个摄像机系统来生成环境模型并执行装配任务。智能机器人人机交互的一个基本要求是能够引用机器人环境中的对象。因此，接口和智能系统需要相似的环境模型，并且有必要提供当前的传感器信息。通过将人机界面集成到机器人的控制架构中，并使其能够访问所有内部信息和机器人用于自主行为的模型，可以实现额外的灵活性。为了充分利用自然语言访问的能力，我们倾向于基于对话的方法，即，对于这里提出的界面KANTRA，人机交互不限于单向通信。
In this paper, a new natural language interface is presented that can be applied to make the use of intelligent robots more flexible. This interface was developed for the autonomous mobile two-arm robot KAMRO, which uses several camera systems to generate an environment model and to perform assembly tasks. A fundamental requirement in human-machine interaction for intelligent robots is the ability to refer to objects in the robot’s environment. Hence, the interface and the intelligent system need similar environment models and it is necessary to provide current sensor information. Additional flexibility can be achieved by integrating the man-machine interface into the control architecture of the robot and to give it access to all internal information and to the models that the robot uses for an autonomous behaviour. In order to fully exploit the capabilities of a natural language access, we favour a dialogue-based approach, i.e., for the interface, KANTRA, presented here, the human-machine interaction is not restricted to unidirectional communication.