Adaptation of robot's perception of fuzzy linguistic information by evaluating vocal cues for controlling a robot manipulator

Authors:
A. G. Jayasekara;Keigo Watanabe;Kazuo Kiguchi;Kiyotaka Izumi
Affiliations:
Department of Advanced Systems Control Engineering, Saga University, Saga, Japan 840-8502;Department of Intelligent Mechanical Systems, Okayama University, Okayama, Japan 700-8530;Department of Advanced Systems Control Engineering, Saga University, Saga, Japan 840-8502;Department of Advanced Systems Control Engineering, Saga University, Saga, Japan 840-8502
Venue:
Artificial Life and Robotics
Year:
2010

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Abstract

This article proposes a method for adapting a robot's perception of fuzzy linguistic information by evaluating vocal cues. The robot's perception of fuzzy linguistic information such as "very little" depends on the environmental arrangements and the user's expectations. Therefore, the robot's perception of the corresponding environment is modified by acquiring the user's perception through vocal cues. Fuzzy linguistic information related to primitive movements is evaluated by a behavior evaluation network (BEN). A vocal cue evaluation system (VCES) is used to evaluate the vocal cues for modifying the BEN. The user's satisfactory level for the robot's movements and the user's willingness to change the robot's perception are identified based on a series of vocal cues to improve the adaptation process. A situation of cooperative rearrangement of the user's working space is used to illustrate the proposed system by a PA-10 robot manipulator.