Affordance Based Disambiguation and Validation in Human-Robot Dialogue

Titelangaben

Wölfel, Kim ; Henrich, Dominik:
Affordance Based Disambiguation and Validation in Human-Robot Dialogue.
In: Schüppstuhl, Thorsten ; Tracht, Kirsten ; Henrich, Dominik (Hrsg.): Annals of Scientific Society for Assembly, Handling and Industrial Robotics. - Berlin : Springer Vieweg , 2020 . - S. 307-317
ISBN 978-3-662-61755-7
DOI: https://doi.org/10.1007/978-3-662-61755-7_28

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Abstract

Speech-based robot instruction is a promising field in private households and in small and medium-sized enterprises, because it facilitates a comfortable way of communicating with robot systems, even while the users’ hands are occupied. An essential problem in transforming the speech-based instructions into complex robot motions is the validation of the resulting motions regarding feasibility. This emerges from the fact that the user may not be fully aware of the capabilities of the robot including its gripper in a given working environment. We present an approach that tackles this problem by utilizing dynamic affordances for the disambiguation and elemental validation of speech-based instructions.