In : IFAC Workshop on Human - Oriented Design of Advanced Robotics Systems ( DARS ' 95 ) WHAT CAN ROBOTS LEARN FROM HUMANS ?

WHAT CAN ROBOTS LEARN FROM HUMANS? Holger Friedrich and Michael Kaiser Institute for Real-Time Computer Systems & Robotics University of Karlsruhe, D-76128 Karlsruhe, Germany. E-Mail: [email protected] Abstract. Programming by Demonstration (PbD) is an intuitive method to program a robot. The user, acting as a teacher or programmer, shows how a particular task should be carried out. The demonstration is monitored using an interface device that allows the measurement and recording of both the applied commands as well as the data simultaneously perceived by robot's sensors. This paper identi es the kind of knowledge that the robot can actually acquire from the human user through demonstrations and the requirements that must be met in order to be able to interpretwhat has been demonstrated. Finally, it presents and experimentally evaluates an approach to integrated acquisition, evaluation, tuning, and execution of elementary skills and task-level programs for robots based on human demonstrations.