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We have developed the method of a robot programming by using frame like knowledge base in order to compose the multi-modal human-robot interface. The concept of object oriented programming, the case grammar, and the Conceptual Dependency theory (CD theory) is introduced into this knowledge base in order that the total system can be easily and naturally composed. In this system, a robot can interact...
This paper describes a knowledge representation and programming method for a robotic assembly task. The methodology is explained using a robotic assembly task involving position and force controls. The action sequence is defined based on a control hierarchy which consists of four levels (Control primitive level, Control skill level, Skill level, and Task level). A complicated assembly task can be...
We have developed human-robot interface by using frame like knowledge base. The concept of object oriented programming, the case grammar, and the conceptual dependency theory (CD theory) is introduced into this knowledge base in order that the total system can be easily and naturally composed. In this system, a robot can interact with humans in the voice and the finger pointing. Furthermore, termination...
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...
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