Robots need to be able to understand orders from humans when they work in homes and public places. Such orders are high--level commands such as "I'd like a cup of tea" or "bring me the newspaper," in which the detailed motion of the robot is not described. Robots must therefore analyze the human high-level command and break it down into primitive motion commands such as "move the arm tip to point A." It is also necessary for the robot to recognize and/or measure the concerned object of the task using sensors so as to accomplish the high-level command.This paper describes an experiment, in which a robot picks up a ball on the floor upon hearing the human order "pick up the ball," to verity the validity of the high-level commands.
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