Nothing Special   »   [go: up one dir, main page]

Skip to main content

Utilizing spatial relations for natural language access to an autonomous mobile robot

  • Selected Papers
  • Conference paper
  • First Online:
KI-94: Advances in Artificial Intelligence (KI 1994)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 861))

Included in the following conference series:

Abstract

Natural language, a primary communication medium for humans, facilitates better human-machine interaction and could be an efficient means to use intelligent robots in a more flexible manner. In this paper, we report on our joint efforts at providing natural language access to the autonomous mobile two-arm robot Kamro. The robot is able to perform complex assembly tasks. To achieve autonomous behaviour, several camera systems are used for the perception of the environment during task execution. Since natural language utterances must be interpreted with respect to the robot's current environment the processing must be based on a referential semantics that is perceptually anchored. Considering localization expressions, we demonstrate how, on the one hand, verbal descriptions, and on the other hand, knowledge about the physical environment, i.e., visual and geometric information, can be connected to each other.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Similar content being viewed by others

References

  1. E. André. Generierung natürlichsprachlicher Äuβerungen zur simultanen Beschreibung von zeitveränderlichenSzenen:Das System SOCCER. Memo 26, Universität des Saarlandes, SFB 314 (VITRA), 1988.

    Google Scholar 

  2. E. André, G. Bosch, G. Herzog, and T. Rist. Coping with the Intrinsic and the Deictic Uses of Spatial Prepositions. In: K. Jorrand and L. Sgurev (eds.), Artificial Intelligence II: Methodology, Systems, Applications, pp. 375–382. Amsterdam: North-Holland, 1987.

    Google Scholar 

  3. E. André, G. Herzog, and T. Rist. Natural Language Access to Visual Data: Dealing with Space and Movement. Report 63, Universität des Saarlandes, SFB 314 (VITRA), Saarbrücken, 1989. Presented at the 1st Workshop on Logical Semantics of Time, Space and Movement in Natural Language, Toulouse, France.

    Google Scholar 

  4. N. I. Badler, B. L. Webber, J. Kalita, and J. Esakov. Animation from Instructions. In: N. I. Badler, B. A. Barsky, and D. Zeltzer (eds.), Making Them Move: Mechanics, Control, and Animation of Articulated Figures, pp. 51–93. San Mateo, CA: Kaufmann, 1991.

    Google Scholar 

  5. R. Bajcsy, A. Joshi, E. Krotkov, and A. Zwarico. LandScan: A Natural Language and Computer Vision System for Analyzing Aerial Images. In: Proc. of the 9th IJCAI, pp. 919–921, Los Angeles, CA, 1985.

    Google Scholar 

  6. D. Chapman. Vision, Instruction, and Action. Cambridge, MA: MIT Press, 1991.

    Google Scholar 

  7. K.-P. Gapp. Basic Meanings of Spatial Relations: Computation and Evaluation in 3D Space. In: Proc. of AAAI-94, Seattle, WA, 1994.

    Google Scholar 

  8. K. Harbusch. A First Snapshot of XTRAGRAM, A Unification Grammar for German Based on PATR. Memo 14, Universität des Saarlandes, SFB 314 (XTRA), 1986.

    Google Scholar 

  9. K. Harbusch, W. Finkler, and A. Schauder. Incremental Syntax Generation with Tree Adjoining Grammars. In: W. Brauer and D. Hernandez (eds.), Verteilte Künstliche Intelligenz und kooperatives Arbeiten: 4. Int. GI-Kongreß Wissensbasierte Systeme, pp. 363–374. Berlin, Heidelberg: Springer, 1991.

    Google Scholar 

  10. A. Herskovits. Language and Spatial Cognition. An Interdisciplinary Study of the Prepositions in English. Cambridge, London: Cambridge University Press, 1986.

    Google Scholar 

  11. G. Herzog and P. Wazinski. VIsual TRAnslalor: Linking Perceptions and Natural Language Descriptions. Artificial Intelligence Review Journal, 8(2), 1994.

    Google Scholar 

  12. O. Herzog and C.-R. Rollinger (eds.). Text Understanding in LILOG: Integrating Computational Linguistics and Artificial Intelligence. tFinal Report on the IBM Germany LILOG-Projecl. Berlin, Heidelberg: Springer, 1991.

    Google Scholar 

  13. M. Kochen. Representations and Algorithms for Cognitive Learning. Artificial Intelligence, 5:199–216, 1974.

    Google Scholar 

  14. B. Landau and R. Jackendoff. “What” and “Where” in Spatial Language and Spatial Cognition. Behavioral and Brain Sciences, 16:217–265, 1993.

    Google Scholar 

  15. H. Lobin. Situierte Agenten als natürlichsprachliche Schnittstellen. Arbeitsberichte Computerlinguistik 3-92, Univ. Bielefeld, Germany, 1992.

    Google Scholar 

  16. T. C. Lüth, Th. Längle, G. Herzog, E. Stopp, and U. Rembold. KANTRA: Human-Machine Interaction for Intelligent Robots using Natural Language. In: 3rd IEEE Int. Workshop on Robot and Human Communication, RO-MAN'94, Nagoya, Japan, 1994.

    Google Scholar 

  17. T. C. Lüth and U. Rembold. Extensive Manipulation Capabilities and Reliable Behaviour at Autonomous Robot Assembly. In: Proc. of IEEE Int Conf. on Robotics and Automation, San Diego, CA, 1994.

    Google Scholar 

  18. B. Neumann. Natural Language Description of Time-Varying Scenes. In:D. L. Waltz (ed.), Semantic Structures, pp. 167–207. Hillsdale, NJ: Lawrence Erlbaum, 1989.

    Google Scholar 

  19. N. J. Nilsson. Shakey the Robot. Technical Note 323, Artificial Intelligence Center, SRI International, Menlo Park, CA, 1984.

    Google Scholar 

  20. G. Retz-Schmidt. Various Views on Spatial Prepositions. AI Magazine, 9(2):95–105, 1988.

    Google Scholar 

  21. J. R. J. Schirra and Eva Stopp. ANTLIMA — A Listener Model with Mental Images. In: Proc. of the 13th IJCAI, pp. 175–180, Chambery, France, 1993.

    Google Scholar 

  22. M. C. Torrance. Natural Communication with Robots. Master's thesis, MIT, Department of Electrical Engineering and Computer Science, Cambridge, MA, 1994.

    Google Scholar 

  23. S. Vere and T. Bickmore. A Basic Agent. Computational Intelligence, 6(1):41–60, 1990.

    Google Scholar 

  24. W. Wahlster. Natürlichsprachliche Argumentation in Dialogsystemen. Berlin, Heidelberg: Springer, 1981.

    Google Scholar 

  25. W. Wahlster, H. Marburger, A. Jameson, and S. Busemann. Over-answering Yes-No Questions: Extended Responses in a NL Interface to a Vision System. In: Proc. of the 8th IJCAI, pp. 643–646, Karlsruhe, FRG, 1983.

    Google Scholar 

Download references

Author information

Authors and Affiliations

Authors

Editor information

Bernhard Nebel Leonie Dreschler-Fischer

Rights and permissions

Reprints and permissions

Copyright information

© 1994 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Stopp, E., Gapp, KP., Herzog, G., Laengle, T., Lueth, T.C. (1994). Utilizing spatial relations for natural language access to an autonomous mobile robot. In: Nebel, B., Dreschler-Fischer, L. (eds) KI-94: Advances in Artificial Intelligence. KI 1994. Lecture Notes in Computer Science, vol 861. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-58467-6_4

Download citation

  • DOI: https://doi.org/10.1007/3-540-58467-6_4

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-58467-4

  • Online ISBN: 978-3-540-48979-5

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics