The Generation method of A Robot Task Program for multi-modal Human-Robot Interface

In this paper, the generation method of the task program of the humanoid robot interacting with humans in the voice and the behavior of humans such as finger pointing, is described. The concept of object oriented programming, the case grammar, and the conceptual dependency theory (CD theory) is introduced into the knowledge base of this system in order that the total system can be easily and naturally composed. In this system, the problem on the homonym is easily solved and a robot can understand that the meaning is same even if we talk to a robot with different words or sentences. Furthermore, termination condition of a robot task can be easily realized, and the robustness of robot tasks is improved. By using this system architecture, it becomes easy to generate the task programs of humanoid robot which interacts with humans. The effectiveness was confirmed by realizing actually this system using humanoid robot and carrying out the work experiment.