Interactive robot programming based on human demonstration and advice

摘要

Abstract. Service robots require interactive programming interfaces that allow users without programming experience to easily instruct the robots. Systems following the Programming by Demonstration (PbD) paradigm that were developed within the last years are getting closer to this goal. However, most of these systems lack the possibility for the user to supervise and in\nuence the process of program generation after the initial demonstration was performed. In this paper an approach is presented, that enables the user to supervise the entire program gener-ation process and to annotate, and edit system hypotheses. Moreover, the knowledge representation and algorithms presented enable the user to generalise the generated program by annotating conditions and object selection criteria via a 3D simulation and graphical user interface. The resulting PbD-system widens the PbD approach in robotics to program-ming based on human demonstrations and user annotations. 1