@inproceedings{Perzylo2015c, author = {Perzylo, Alexander and Somani, Nikhil and Profanter, Stefan and Gaschler, Andre and Griffiths, Sascha and Rickert, Markus and Knoll, Alois}, title = {Ubiquitous Semantics: Representing and Exploiting Knowledge, Geometry, and Language for Cognitive Robot Systems}, booktitle = {Proceedings of the Workshop Towards Intelligent Social Robots - Current Advances in Cognitive Robotics, {IEEE}/{RAS} International Conference on Humanoid Robots ({HUMANOIDS})}, year = {2015}, month = nov, address = {Seoul, South Korea}, abstract = {In this paper, we present an integrated approach to knowledge representation for cognitive robots. We combine knowledge about robot tasks, interaction objects including their geometric shapes, the environment, and natural language in a common ontological description. This description is based on the Web Ontology Language (OWL) and allows to automatically link and interpret these different kinds of information. Semantic descriptions are shared between object detection and pose estimation, task-level manipulation skills, and human-friendly interfaces. Through lifting the level of communication between the human operator and the robot system to an abstract level, we achieve more human-suitable interaction and thus a higher level of acceptance by the user. Furthermore, it increases the efficiency of communication. The benefits of our approach are highlighted by examples from the domains of industrial assembly and service robotics.}, keywords = {robotics, smerobotics}, } @inproceedings{Perzylo2015d, author = {Perzylo, Alexander and Griffiths, Sascha and Lafrenz, Reinhard and Knoll, Alois}, title = {Generating Grammars for Natural Language Understanding from Knowledge about Actions and Objects}, booktitle = {Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO)}, pages = {2008--2013}, year = {2015}, address = {Zhuhai, China}, abstract = {Many applications in the fields of Service Robotics and Industrial Human-Robot Collaboration, require interaction with a human in a potentially unstructured environment. In many cases, a natural language interface can be helpful, but it requires powerful means of knowledge representation and processing, e.g., using ontologies and reasoning. In this paper we present a framework for the automatic generation of natural language grammars from ontological descriptions of robot tasks and interaction objects, and their use in a natural language interface. Robots can use it locally or even share this interface component through the RoboEarth framework in order to benefit from features such as referent grounding, ambiguity resolution, task identification, and task assignment.}, doi = {10.1109/ROBIO.2015.7419068}, keywords = {robotics, smerobotics}, url = {http://youtu.be/mgPQevfTWP8}, }