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This paper presents a task instruction scheme for a service robot operated in a daily life environment. In this paper, we define the Object Template Model (OTM) that is the list of task models which can be applied to the object category. We also define the Task Space Model (TSM) which describes a list of OTMs and spatial information of an object fixed in an environment related to tasks of the robot. The task instruction system is composed of a manipulator and a stereo camera. The camera image of the work space is displayed on a screen and a range image of the work space is captured by the stereo camera. Our task instruction is as follows : An operator clicks on a target object in a camera image and the system gets the position of the clicked point in the work space from the corresponding range image. The system selects a TSM which includes clicked point, and the spatial information described in the TSM is attached at the point. The operator identifies the target object and selects the OTM described in the TSM. The operator then selects the task model by considering the object situation in the work space. Then the robot executes the task using the spatial information and the task model attached at the position.

Task Instruction to a Robot by Putting Task Information in a Work Space