Interactive manipulator interface with task planner

摘要

This paper deals with the progress of manipulator interface software, in which an integration of interaction with the end-user and task planning interpreter are investigated. The end-user who has enough knowledge about the target task can input the desired task interacting with the knowledge-based system. The desired task is translated into the series of the manipulator's task by the task planning interpreter immediately. The overall system is integrated as a symbolic level. As an illustrative example, an imaginary set is given in which there exist a few fruits and dishes as a simulation environment. In this set, the end-user can request pick and place manipulation using words or sentences. Including the task planner means that the user does not need to have special knowledge about programming and operating robots.