Chapter

Towards Service Robots for Everyday Environments

Volume 76 of the series Springer Tracts in Advanced Robotics pp 483-502

Date:

A Mixed-Initiative Approach to Interactive Robot Tutoring

  • Ingo LütkebohleAffiliated withCognitive Interaction Technology Excellence Cluster, Bielefeld University Email author 
  • , Julia PeltasonAffiliated withCognitive Interaction Technology Excellence Cluster, Bielefeld University
  • , Lars SchillingmannAffiliated withCognitive Interaction Technology Excellence Cluster, Bielefeld University
  • , Christof ElbrechterAffiliated withCognitive Interaction Technology Excellence Cluster, Bielefeld University
  • , Sven WachsmuthAffiliated withCognitive Interaction Technology Excellence Cluster, Bielefeld University
  • , Britta WredeAffiliated withCognitive Interaction Technology Excellence Cluster, Bielefeld University
  • , Robert HaschkeAffiliated withCognitive Interaction Technology Excellence Cluster, Bielefeld University

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Abstract

Integrating the components described in the previous articles of this chapter, we introduce the Bielefeld “Curious Robot”, which is able to acquire new knowledge and skills in direct human-robot interaction. This paper focuses on the cognitive architecture of the overall system. We propose to combine (i) a communication layer based on a generic, human-accessible XML data format, (ii) multiple low-level sensor and control processes publishing their sensor information into the system and receiving commands or parameterizations from higher-level deliberative processes, and (iii) high-level coordination processes based on hierarchical state machines. The efficiency of the proposed approach is shown in an interactive tutoring scenario, where the Bielefeld “Curious Robot”, a bimanual robot system, should learn to identify, grasp, and clean various everyday objects from a table. The capability of the system to interact with lay persons is proven in a user study.