Development of a natural language interface for robots using high-level robot control language is an important research goal in analytical laboratories because it provides the access to robot control by non-experts, thus leading to the savings of a huge amount of money and time. it is a difficult task to build a natural language interface for a robot. In particular, choices must be made among a number of different areas: robot hierarchy and control, sensor control, system design strategies, and AI programming languages. A microcomputer version of LISP is used to develop robot control functions. Several robot functions for the manipulation of the robot arm are implemented by the software.
You can refer the following link which will tell you about Robot Programming with Lisp: https://ai.uni-bremen.de/_media/teaching/6_packaging_ros.pdf