Grounding of Uncertain Force Parameters in Spoken Robot Commands

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.