Abstract
Human-friendly interactive features are preferred for domestic service robots. Humans prefer to use verbal communication in order to convey instructions to peers. Those voice instructions often include uncertain terms such as “little” and “far”. Therefore, the ability to quantify such information is mandatory for human-friendly service robots. The meaning of such voice instructions depends on the environment and the intention of the user. Therefore, this paper proposes a method in order to interpret the ambiguities in user instructions based on the environment and the intention of the user. The actual intention of the user is identified by analyzing the pointing gestures accompanied with the voice instructions since pointing gestures can be used in order to express the intention of the user. A module called the motion intention switcher (MIS) has been introduced in order to switch the intention of the robot based on the arrangement of the environment and the point referred by the gesture. Experiments have been carried out in an artificially-created domestic environment. According to the experimental results, the behavior of the MIS is effective in identifying the actual intention of the user and switching the intention of the robot. Moreover, the proposed concept is capable of enhancing the uncertain information evaluation ability of robots.
Highlights
An intelligent service robot is a machine that is able to perceive the environment and use its knowledge to operate safely in a meaningful and purposive manner [1]
Human-friendly interactive features are preferred for domestic service robots [6]
The experiments have been carried out based on the guidelines suggested in [25] for designing, planning and executing human studies for human–robot interactions in order to avoid the subjectivity of the experimental results
Summary
An intelligent service robot is a machine that is able to perceive the environment and use its knowledge to operate safely in a meaningful and purposive manner [1]. The methods proposed in [16,17] use fuzzy neural networks that are capable of adapting the perception of uncertain information based on the user critics. These systems do not consider environmental factors for adaptation in a manner similar to humans, and they cannot adapt perception according to the environment even though the fuzzy implications related to the spatial information heavily depend on the environment. This paper proposes a method in order to switch the intention of the robot by identifying the actual intention of the user by analyzing the pointing gestures accompanied with voice instructions for enhanced interpretation of navigation instructions with uncertain information such as “move far forward”.
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