TY - JOUR
T1 - Integrating Multi-Purpose Natural Language Understanding, Robot's Memory, and Symbolic Planning for Task Execution in Humanoid Robots
AU - Wächter, Mirko
AU - Ovchinnikova, Ekaterina
AU - Wittenbeck, Valerij
AU - Kaiser, Peter
AU - Szedmak, Sandor
AU - Mustafa, Wail
AU - Kraft, Dirk
AU - Krüger, Norbert
AU - Piater, Justus
AU - Asfour, Tamim
PY - 2018
Y1 - 2018
N2 - We propose an approach for instructing a robot using natural language to solve complex tasks in a dynamic environment. In this study, we elaborate on a framework that allows a humanoid robot to understand natural language, derive symbolic representations of its sensorimotor experience, generate complex plans according to the current world state, and monitor plan execution. The presented development supports replacing missing objects and suggesting possible object locations. It is a realization of the concept of structural bootstrapping developed in the context of the European project Xperience. The framework is implemented within the robot development environment ArmarX. We evaluate the framework on the humanoid robot ARMAR-III in the context of two experiments: a demonstration of the real execution of a complex task in the kitchen environment on ARMAR-III and an experiment with untrained users in a simulation environment
AB - We propose an approach for instructing a robot using natural language to solve complex tasks in a dynamic environment. In this study, we elaborate on a framework that allows a humanoid robot to understand natural language, derive symbolic representations of its sensorimotor experience, generate complex plans according to the current world state, and monitor plan execution. The presented development supports replacing missing objects and suggesting possible object locations. It is a realization of the concept of structural bootstrapping developed in the context of the European project Xperience. The framework is implemented within the robot development environment ArmarX. We evaluate the framework on the humanoid robot ARMAR-III in the context of two experiments: a demonstration of the real execution of a complex task in the kitchen environment on ARMAR-III and an experiment with untrained users in a simulation environment
U2 - 10.1016/j.robot.2017.10.012
DO - 10.1016/j.robot.2017.10.012
M3 - Journal article
SN - 0921-8890
VL - 99
SP - 148
EP - 165
JO - Robotics and Autonomous Systems
JF - Robotics and Autonomous Systems
ER -