An Extensible Dialogue Script for a Robot Based on Unification of State-Transition Models

Algorithm 1

<state id="Robot" dict="julian-conf/hrp_operate">

    $<$rule>

    <key>[take] one step [forward]</key>

    <command host="talk">

      (talk "Take one step forward.")

    </command>

    <command host="control">

      (robot hwalk  :set-target-pos 0.2 0 0)

    </command>

    $<$/rule>

</state>