A Robot Programming Based on Frame Representation of Knowledge

We have developed the method of a robot programming by using frame like knowledge base in order to compose the multi-modal human-robot interface. The concept of object oriented programming, the case grammar, and the Conceptual Dependency theory (CD theory) is introduced into this knowledge base in order that the total system can be easily and naturally composed. In this system, a robot can interact with humans in the voice and the finger pointing. Furthermore, termination condition of a robot task can be easily realized by using CD theory, and the robustness of robot tasks is improved. We carried out the work experiment by using actual humanoid robot and the effectiveness was confirmed.