In this paper we propose an approach that allows the NAO humanoid robot to execute natural language commands spoken by the user. To provide the robot with knowledge, we have defined an action robot ontology. The ontology is fed to an NLP engine that performs a machine reading of the input text (in natural language) given by a user and tries to identify action commands for the robot to execute. The system can work in two modes: STATELESS and STATEFUL. In STATELESS mode, each human expression correctly interpreted by the robot as an action command is performed by NAO which returns in its default posture afterwards. When in STATEFUL mode, the robot has knowledge of its current posture and performs the command only if it is compatible with its current state. In this mode, the robot does not return to its default posture. For example, if the user had told the robot to stand on its right leg in a first command, the robot cannot perform a following command stating to stand on its left leg as the two actions (raise left leg and raise right leg are incompatible). For each action that the robot can perform we modeled a corresponding element in the ontology that also includes a list of associated compatible and non-compatible actions. Our system also handles compound expressions (e.g., move your arms up) and multiple expressions (different commands within one sentence) that the robot understands and performs.

在本文中，我们提出了一种允许NAO人形机器人执行用户说的自然语言命令的方法。为了向机器人提供知识，我们定义了动作机器人本体。本体被馈送到NLP引擎，该引擎对用户给出的输入文本（以自然语言）进行机器读取，并尝试识别动作命令以供机器人执行。系统可以在两种模式下工作：无状态和有状态。在无状态模式下，由NAO执行并被机器人正确地解释为动作命令的每个人类表情都将以其默认姿势返回。处于STATEFUL模式时，机器人会知道其当前姿势，并且仅在与其当前状态兼容时才执行命令。在此模式下，机器人不会返回其默认姿势。例如，如果用户在第一个命令中告诉机器人站立在右腿上，则机器人无法执行以下命令来声明站立在其左腿上，因为这两个动作（抬高左腿和抬高右腿不兼容）。对于机器人可以执行的每个动作，我们在本体中对相应的元素建模，该元素还包括关联的兼容和不兼容动作的列表。我们的系统还处理机器人可以理解和执行的复合表达式（例如，向上移动手臂）和多个表达式（一个句子中的不同命令）。对于机器人可以执行的每个动作，我们在本体中对相应的元素建模，该元素还包括关联的兼容和不兼容动作的列表。我们的系统还处理机器人可以理解和执行的复合表达式（例如，向上移动手臂）和多个表达式（一个句子中的不同命令）。对于机器人可以执行的每个动作，我们在本体中对相应的元素建模，该元素还包括关联的兼容和不兼容动作的列表。我们的系统还处理机器人可以理解和执行的复合表达式（例如，向上移动手臂）和多个表达式（一个句子中的不同命令）。