Verbal instructing of sensor-based robots (VerbBot)

机器人的编程是机器人启动和进一步用于各种应用的关键步骤（例如，工业、实验室、服务）。机器人程序主要由一系列的动作组成（例如，机器人运动，工具命令）与相关参数（例如，目标位置，力值）和用于控制程序序列的控制结构（例如，重复、分支）。创建这样的程序是耗时的，需要专业知识。更糟糕的是编程，如果另外必须评估传感器数据以感知当前的医疗状况（例如，工件位置、接触力）来完成任务。即使是高级的编程概念，如图形编程或演示编程，在这里也只是有限的帮助。因此，基于传感器的机器人系统的编程代表了它们在当前和未来应用中的有效和灵活使用的瓶颈。该项目的愿景是通过自然语言对基于传感器的机器人进行直观编程。作为第一步，这里通常的机器人命令（例如，moveStraight，openGripper）被来自人类语言的动词（例如，提升或搬运）。为此，首先必须对动词的语义进行更详细的理解，以确保对机器人的技术支持。(What例如，推和推的区别是什么？）此外，要用作机器人命令的动词必须提供参数。（例如，你想推一个工件吗？）它还必须提取额外的，往往只是隐含的情况下可用的上下文信息。(What例如，（2）物体的重量是多少？如果有疑问，向用户询问或主动采取行动可能会有所帮助。最后，指令将基于传感器执行，任何错误情况都需要纠正（可能在对话中）。

The programming of robots is a key step in their start-up and further use in a variety of applications (e.g., industrial, laboratory, services). A robot program consists mainly of a sequence of instruc-tions (e.g., robot movements, tool commands) with the associated parameters (e.g., target position, force values) and a control structure for controlling the program sequence (e.g., repetitions, branches). The creation of such programs is time consuming and requires expertise. Even worse is the programming, if additionally sensor data must be evaluated to perceive the current environmen-tal situation (e.g., workpiece position, contact forces) to fulfill the task. Even advanced program-ming concepts, such as Graphical Programming or Programming By Demonstration, are only of limited help here. Programming of sensor-based robot systems thus represents a bottleneck for their efficient and flexible use in present and in future applications represent (e.g., household, work-shop, entertainment).The vision of this project is the intuitive programming of sensor-based robots through natural lan-guage. As a first step, here the usual robot commands (e.g., moveStraight, openGripper) are re-placed by verbs from the human language (e.g., TO LIFT or TO CARRY). For this purpose, first the semantic meaning of the verbs must be understood in more detail, to ensure that technical sup-port for the robot. (What is, e.g., the difference between TO PUSH and TO SHOVE?) Also a verb, to be used as a command for the robot, must be provided with parameters. (Whereto, e.g., do you want a workpiece to be pushed?) It must also be extracted additional, often only implicitly available context information from the situation. (What is, e.g., the weight of the object to be shoved?) In case of doubts, queries to the user or proactive actions may help. Finally, the instruction is to be executed sensor-based and any error situations need to be corrected (possibly in dialogue).