Multimodalbindingofparameters创新.PDFVIP

Multimodal binding of parameters for task-based robot programming based on semantic descriptions of modalities and parameter types Alexander Perzylo * Nikhil Somani * and Stefan Profanter and Markus Rickert and Alois Knoll Abstract— In this paper, we describe our ongoing efforts to design a cognition-enabled industrial robotic workcell, which significantly increases the efficiency of teaching and adapting robot tasks. We have designed a formalism to match task parameter and input modality types, in order to infer suitable means for binding values to those parameters. All modalities are integrated through a graphical user interface, which a human operator can use to program industrial robots in an intuitive way by arbitrarily choosing modalities according to his or her preference. I. INTRODUCTION Programming industrial robots can be a tedious task. Typ- ically, a lot of expert knowledge in the domain of robotics is required to implement even simple actions. Human operators require weeks of training and decision makers might be Fig. 1: Cognitive robotic workcell with intuitive graphical afraid of rendering their company dependent on just a few user interface integrating further input and output modalities workers capable of using their robots. The alternative of hiring a system integrator is a valid choice only if the corresponding extra costs can be covered through longer product life cycles.