通过自然语言对话指导协作装配机器人

A. Knoll, B. Hildebrandt, Jianwei Zhang
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引用次数: 53

摘要

我们提出了一个由两个协作机器人和各种传感器组成的装配单元。它提供了许多从玩具构建集的元素构建聚合所需的复杂技能。由于技能仅通过感官反馈实现,而不是诉诸固定装置或专门工具,因此实现了高度的灵活性。细胞的运作完全由自然语言控制。结合认知科学和计算机语言学的实验结果,将自然语言与视觉结合起来,并控制人类教练和机器人系统之间的对话。描述了实验设置,并通过示例对话演示了该单元的功能。最后简要讨论了有待进一步研究的问题。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Instructing cooperating assembly robots through situated dialogues in natural language
We present an assembly cell consisting of two cooperating robots and a variety of sensors. It offers a number of complex skills necessary for constructing aggregates from elements of a toy construction set. A high degree of flexibility was achieved because the skills were realised only through sensory feedback not by resorting to fixtures or specialised tools. The operation of the cell is completely controlled through natural language. Results from experiments in cognitive sciences and computer linguistics were incorporated to integrate natural language with vision as well as to control the construction dialogue between a human instructor and the robotic system. The experimental setup is described, and a sample dialogue demonstrates the capabilities of the cell. A brief discussion of issues for further research concludes the paper.
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