Pbd { the Key to Service Robot Programmingholger

PBD { THE KEY TO SERVICE ROBOT PROGRAMMING HOLGER FRIEDRICH, MICHAEL KAISER and R UDIGER DILLMANN Institute for Real-Time Computer Systems & Robotics (IPR) University of Karlsruhe D-76128 Karlsruhe,Germany E-Mail: [email protected]. Abstract. Currently, an important topic of robotic research is the design and development of `service robots'. These devices shall work autonomously or in cooperation with humans in a dynamic, relatively unstructured environment like households or o ces. A crucial component of such systems is the programming interface. Programming methods have to be developed that enable an operator who is not a programming expert to easily instruct the robot. Programming by Demonstration (PbD) o ers a way to accomplish this task. In this paper, we describe the results of two research projects that dealt with the application of PbD in the eld of robotics. Furthermore, we outline the design methodology for an integrated system providing an interactive robot programming interface based on demonstrations and the analysis of user intentions.