Grounding of Uncertain Force Parameters in Spoken Robot Commands

Titelangaben

Wölfel, Kim ; Henrich, Dominik:
Grounding of Uncertain Force Parameters in Spoken Robot Commands.
In: Berns, Karsten ; Görges, Daniel (Hrsg.): Advances in Service and Industrial Robotics : Proceedings of the 28th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD 2019). - Cham : Springer , 2019 . - S. 194-201
ISBN 978-3-030-19648-6
DOI: https://doi.org/10.1007/978-3-030-19648-6_23

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Abstract

Speech-based robot instruction is a promising field in private households and in small and medium-sized enterprises. It facilitates the use of robot systems for non-experts as well as experts, even while the user executes other tasks. Considering force-based robot motions, the common approach is to map verbs to robot motions depending on the tool and the work piece. While this method works well for a wide variety of applications, it limits the user to a fixed force for a given manipulation task and does not allow extensions like “hard” or “soft”. To overcome this drawback, we contribute an approach for a defuzzification of uncertain force parameters to numerical robot motions. To proof the reliability of our approach, we apply it on a motion with varying material parameters.