From Verb to Action: A Mechanics-based Approach for Trajectory-Pattern Interpretation of Manipulation Verbs. Issue 3 (August 2019) - Shi, Man
Abstract: Interpreting manipulation verbs in natural-language instructions into manipulation actions is an indispensable ability for future service robots. As a typical example of manipulation verbs, cutting and breaking (C&B) verbs has gained increasing attention, and various interpretation methods have been proposed in both fields of robotics and natural language processing. However, the existing methods are either relying on the manual meaning matching with tools, objects, and demonstration videos, or based on qualitative and empirical knowledge. Consequently, it is unable to quantitatively interpret the C&B verbs into the robots' trajectory patterns, which are the necessary information for performing manipulation actions. To address this problem, in this paper, we propose a mechanics-based approach, using the contact, twist, and wrench formulations, for interpreting the C&B verbs into quantitative, computable, and verifiable forms. The proposed method leads to the quantitative constraints and unified validation criteria for robot trajectory generation of manipulation tasks, as well as the semantic analysis in natural language processing.