| The hypothesis for this research is that applying the Human Computer Interaction (HCI) concepts of using multiple modalities, dialog management, context, and semantics to Human Robot Interaction (HRI) will improve the performance of Instruction Based Learning (IBL) compared to only using speech. We tested the hypothesis by simulating a domestic robot that can be taught to clean a house using a multi-modal interface. We used a method of semantically integrating the inputs from multiple modalities and contexts that multiplies a confidence score for each input by a Fusion Weight, sums the products, and then uses the input with the highest product sum. We developed an algorithm for determining the Fusion Weights. We concluded that different modalities, contexts, and modes of dialog management impact human robot interaction; however, which combination is better depends on the importance of the accuracy of learning what is taught versus the succinctness of the dialog between the user and the robot. |
