A Human–Robot-Environment Interactive Reasoning Mechanism for Object Sorting Robot

摘要

In this paper, we design an object sorting robot system, which is based on robot operating system distributed processing framework. This system can communicate with human beings; can percept the 3-D environment by Kinect sensor; has the ability of reasoning; can transfer the natural language intention to machine instruction to control the movement of manipulator. In particular, in order to improve the intelligence and usability of our robot, we propose a human-robot-environment interactive reasoning mechanism. In our method, a “dialogue and 3-D scene interaction module” is added into the traditional case-based reasoning-belief-desire-intention mechanism. Our proposed mechanism not only realizes the traditional function of map matching but also achieves the function of desire analysis and guidance. When the user's desire is incomplete and/or mismatched with the actual scene, our robot will take the initiative to guide users through dialogue, and the user's input information will be used to replenish the user's desire. Experimental results prove the advantages of our mechanism.