Interactive Teaching of a Mobile Robot

Personal service robots are expected to help people in their everyday life in the near future. Such robots must be able to not only move around but also perform various operations such as carrying a user-specified object or turning a TV on. Robots working in houses and offices have to deal with a vast variety of environments and operations. Since it is almost impossible to give the robots complete knowl edge in advance, on-site robot teaching will be important. We are developing a novel teaching framework called task model-based interactive teaching. A task model describes what knowledge is necessary for achieving a task. A robot examines the task model to determine missing pieces of knowledge, and asks the user to teach them. By leading the interaction with the user in this way, the user can teach important (focal) point easily and efficiently. This paper deals with a task of moving to a destination at a different floor; the task includes not only the movement but also the operation of recognizing and pushing elevator buttons. Experimental results show the feasibility of the proposed teaching framework.