Interactive Multi-Modal Robot Programming

Soshi Iba, Chris Paredis, and Pradeep Khosla

Conference Paper, Proceedings of 9th International Symposium on Experimental Robotics (ISER '04), pp. 503 - 513, June, 2004

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Abstract

The goal of the Interactive Multi-Modal Robot Programming system is a comprehensive human-machine interface that allows non-experts to compose robot programs conveniently. Two key characteristics of this novel programming approach are that the user can provide feedback interactively at any time through an intuitive interface and that the system infers the user's intent to support interaction. The framework takes a three-step approach to the problem: multi-modal recognition, intention interpretation, and prioritized task execution. The system is demonstrated by interactively controlling and programming a mobile vacuum cleaning robot. The demonstrations are used to exemplify the interactive programming and plan recognition aspects of the research.

BibTeX

@conference{Iba-2004-8967,
author = {Soshi Iba and Chris Paredis and Pradeep Khosla},
title = {Interactive Multi-Modal Robot Programming},
booktitle = {Proceedings of 9th International Symposium on Experimental Robotics (ISER '04)},
year = {2004},
month = {June},
pages = {503 - 513},
}

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