Paper Info
Title
Ontology-Based Knowledge Management With Verbal Interaction For Command Interpretation And Execution By Home Service Robots
Abstract
This paper describes a system for service robots that combines ontological knowledge reasoning and human-robot interaction to interpret natural language commands and successfully perform household chores, such as finding and delivering objects. Knowledge and context reasoning is essential for providing more efficient service robots, given their diverse and continuously changing environments. Moreover, since they are in contact with humans, robots require such skills as interaction and language. Therefore, we developed a system with specific modules to manage robots' knowledge and reasoning, command analysis, decision-making, and talking interaction. The system relies on inference methods and verbal interaction to understand commands and clarify uncertain information. We tested our system inside a simulated environment where the robot receives commands with missing or unclear information. The system's performance was compared with the average performance of human subjects who completed the same commands in the simulation. (C) 2021 Elsevier B.V. All rights reserved.
Year
DOI
Venue
2021
10.1016/j.robot.2021.103763
ROBOTICS AND AUTONOMOUS SYSTEMS
Keywords
DocType
Volume
Knowledge management, Ontology-based, Service robots, Human-robot interaction
Journal
140
ISSN
Citations 
PageRank 
0921-8890
0
0.34
References 
Authors
0
2
Name
Order
Citations
PageRank
L. Villamar Gómez100.34
Jun Miura201.69