Simulation-based validation of robot commands for force-based robot motions

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 experts as well as non-experts, especially while the user executes other tasks. Besides possible verbal ambiguities and uncertainties it has to be considered that the user may have no knowledge about the robot’s capabilities. This can lead to faulty performances or even damage beyond repair which leads to a loss of trust in the robot. We present a framework, which validates verbally instructed, force-based robot motions using a physics simulation. This prevents faulty performances and allows a generation of motions even with exceptional outcomes. As a proof of concept the framework is applied to a household use-case and the results are discussed.