Multimodal Binding of Parameters for Task-Based Robot Programming Based on Semantic Descriptions of Modalities and Parameter Types

Alexander Perzylo, Nikhil Somani, Stefan Profanter, Markus Rickert und Alois Knoll

Proceedings of the Workshop on Multimodal Semantics for Robotic Systems, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),

September 2015 · Hamburg, Germany


In this paper, we describe our ongoing efforts to design a cognition-enabled industrial robotic workcell, which significantly increases the efficiency of teaching and adapting robot tasks. We have designed a formalism to match task parameter and input modality types, in order to infer suitable means for binding values to those parameters. All modalities are integrated through a graphical user interface, which a human operator can use to program industrial robots in an intuitive way by arbitrarily choosing modalities according to his or her preference.

Stichworte: robotics, smerobotics