Human-friendly interactive features are preferred for domestic service robots. Humans\nprefer to use verbal communication in order to convey instructions to peers. Those voice instructions\noften include uncertain terms such as ââ?¬Å?littleââ?¬Â and ââ?¬Å?farââ?¬Â. Therefore, the ability to quantify such\ninformation is mandatory for human-friendly service robots. The meaning of such voice instructions\ndepends on the environment and the intention of the user. Therefore, this paper proposes a method in\norder to interpret the ambiguities in user instructions based on the environment and the intention of\nthe user. The actual intention of the user is identified by analyzing the pointing gestures accompanied\nwith the voice instructions since pointing gestures can be used in order to express the intention\nof the user. A module called the motion intention switcher (MIS) has been introduced in order to\nswitch the intention of the robot based on the arrangement of the environment and the point referred\nby the gesture. Experiments have been carried out in an artificially-created domestic environment.\nAccording to the experimental results, the behavior of the MIS is effective in identifying the actual\nintention of the user and switching the intention of the robot. Moreover, the proposed concept is\ncapable of enhancing the uncertain information evaluation ability of robots.
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