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Programming robots is a complicated and time-consuming task. A robot is essentially a real-time, distributed embedded system. Often, control and communication paths within the system are tightly coupled to the actual physical configuration…
Natural language is an effective tool for communication, as information can be expressed in different ways and at different levels of complexity. Verbal commands, utilized for instructing robot tasks, can therefor replace traditional robot…
Artificial Intelligence (AI) applications in automation systems are usually distributed systems whose development and integration involve several experts. Each expert uses its own domain-specific modeling language and tools to model the…
Industrial robots are applied in a widening range of industries, but robot programming mostly remains a task limited to programming experts. We propose a natural language-based assistant for programming of advanced, industrial robotic…
Rigid body dynamics algorithms play a crucial role in several components of a robot controller and simulations. Real time constraints in high frequency control loops and time requirements of specific applications demand these functions to…
The development of robot control programs is a complex task. Many robots are different in their electrical and mechanical structure which is also reflected in the software. Specific robot software environments support the program…
This paper presents an experimental study regarding the use of OpenAI's ChatGPT for robotics applications. We outline a strategy that combines design principles for prompt engineering and the creation of a high-level function library which…
There are many application fields for robotic systems including service robotics, search and rescue missions, industry and space robotics. As the scenarios in these areas grow more and more complex, there is a high demand for powerful tools…
We propose an instructions-based approach for robot programming where the programmer interacts with the robot by issuing simple commands in a scripting language, like python. Internally, these commands make use of pre-programmed motion and…
Purpose - Most industrial robots are still programmed using the typical teaching process, through the use of the robot teach pendant. This is a tedious and time-consuming task that requires some technical expertise, and hence new approaches…
Recent large language models (LLMs) have demonstrated promising capabilities in modeling real-world knowledge and enhancing knowledge-based generation tasks. In this paper, we further explore the potential of using LLMs to aid in the design…
As knowledge graph has the potential to bridge the gap between commonsense knowledge and reasoning over actionable capabilities of mobile robotic platforms, incorporating knowledge graph into robotic system attracted increasing attention in…
Computer programming initially required humans to directly translate their goals into machine code. These goals could have easily been expressed as a written (or human) language directive. Computers, however, had no capacity to…
Embodied robots which can interact with their environment and neighbours are increasingly being used as a test case to develop Artificial Intelligence. This creates a need for multimodal robot controllers that can operate across different…
Successful application of large language models (LLMs) to robotic planning and execution may pave the way to automate numerous real-world tasks. Promising recent research has been conducted showing that the knowledge contained in LLMs can…
Given a natural language instruction and an input scene, our goal is to train a model to output a manipulation program that can be executed by the robot. Prior approaches for this task possess one of the following limitations: (i) rely on…
Purpose - The purpose of this paper is to present a CAD-based human-robot interface that allows non-expert users to teach a robot in a manner similar to that used by human beings to teach each other. Design/methodology/approach - Intuitive…
This paper demonstrates how OpenAI's ChatGPT can be used in a few-shot setting to convert natural language instructions into a sequence of executable robot actions. The paper proposes easy-to-customize input prompts for ChatGPT that meet…
Robot systems capable of executing tasks based on language instructions have been actively researched. It is challenging to convey uncertain information that can only be determined on-site with a single language instruction to the robot. In…
Despite significant technological advancements, the process of programming robots for adaptive assembly remains labor-intensive, demanding expertise in multiple domains and often resulting in task-specific, inflexible code. This work…