Attentive and corrective feedback for adapting robot's perception on fuzzy linguistic information

Kiyotaka Izumi, A. G.B.P. Jayasekara, Keigo Watanabe, Kazuo Kiguchi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper proposes a method for understanding the fuzzy linguistic information based on the user's guidance. A quantitative assessment for a fuzzy linguistic term such as "little" depends on the environmental conditions. Therefore the corrective feedbacks are utilized to adapt the robot's perception toward the corresponding environment. However, the attentive commands like "move carefully" are used to modify the evaluation process of the fuzzy linguistic information according to the user's desire. The primitive behaviors are evaluated by a behavior evaluation network (BEN) and a feedback evaluation system (FES) is utilized to evaluate the corrective feedbacks. An attention level controller is introduced to change the attention level based on the attentive commands. The system is adapted toward the user's perception on the fuzzy linguistic information based on the corrective feedbacks in the adaptation phase. Then the attentive commands are used to modify the evaluation process according to the local requirements. The proposed system is demonstrated by using a PA-10 robot manipulator and a situation of cooperative rearrangement of user's working space is considered. The adaptation of the system toward the environmental conditions by the corrective feedbacks and the capability to use the attentive feedbacks to modify the system during the work, improve the effectiveness of the system.

Original languageEnglish
Title of host publicationProceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
PublisherSociety of Instrument and Control Engineers (SICE)
Pages1963-1968
Number of pages6
ISBN (Print)9784907764364
Publication statusPublished - Jan 1 2010

Publication series

NameProceedings of the SICE Annual Conference

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Izumi, K., Jayasekara, A. G. B. P., Watanabe, K., & Kiguchi, K. (2010). Attentive and corrective feedback for adapting robot's perception on fuzzy linguistic information. In Proceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers (pp. 1963-1968). [5602685] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE).