Levels of interaction allowing humans to command, interrogate and teach a communicating object: lessons learned from two robotic platform

Abstract

As robotic systems become increasingly capable of complex sensory, motor and information processing functions, the ability to interact with them in an ergonomic, real-time and adaptive manner becomes an increasingly pressing concern. In this context, the physical characteristics of the robotic device should become less of a direct concern, with the device being treated as a system that receives information, acts on that information, and produces information. Once the input and output protocols for a given system are well established, humans should be able to interact with these systems via a standardized spoken language interface that can be tailored if necessary to the specific system.The objective of this research is to develop a generalized approach for human-machine interaction via spoken language that allows interaction at three levels. The first level is that of commanding or directing the behavior of the system. The second level is that of interrogating or requesting an explanation from the system. The third and most advanced level is that of teaching the machine a new form of behavior. The mapping between sentences and meanings in these interactions is guided by a neuropsychologically inspired model of grammatical construction processing. We explore these three levels of communication on two distinct robotic platforms. The novelty of this work lies in the use of the construction grammar formalism for binding language to meaning extracted from video in a generative and productive manner, and in thus allowing the human to use language to command, interrogate and modify the behavior of the robotic systems.