Typically, development of robot behavior entails writing the code, deploying it on a simulator or robot and running it for testing. If this feedback reveals errors, the programmer mentally needs to map the error in behavior back to the source code that caused it before being able to fix it. This process suffers from a large cognitive distance between the code and the resulting behavior, which s...

We propose a new method to program robots based on Bayesian inference and learning. It is called BRP for Bayesian Robot Programming. The capacities of this programming method are demonstrated through a succession of increasingly complex experiments. Starting from the learning of simple reactive behaviors, we present instances of behavior combinations, sensor fusion, hierarchical behavior compos...

The wide variety of robot programming languages available and their limitations can reduce the value of robots in establishing competitive industries. A solution is the use of a standard programming language and a library of robot control functions. ARCL (for Advanced Robot Control Library) is a powerful, general, and portable software library which provides robot control capability to C langua...

We describe the first instance of a novel approach for control programming of humanoid robots, based on evolution. To overcome some of the difficulties with evolution on real hardware, we use a physically realistic simulation of the robot. The essential idea is to evolve control programs from first principles on a simulated robot, transfer the programs to the real robot, and continue to evolve ...

Traditional robotic work cell design and programming are considered inefficient and outdated in current industrial and market demands. In this research, virtual reality (VR) technology is used to improve human-robot interface, whereby complicated commands or programming knowledge is not required. The proposed solution, known as VR-based Programming of a Robotic Work Cell (VR-Rocell), consists o...

This paper discusses the CARA programming environment for robot manipulators. The environment is realized as the integration of a full-edged logic system with a real-time robotic machine. While the development of a general robot programming environment is an elusive goal, exible development and in-cremental reenement are made possible by the open nature of the CARA environment.

The current trend towards industrial robotics requires the development of simple programming techniques. Programming by demonstration has emerged as one of the most promising solutions for effective programming of robot tasks (Ikeuchi & Suehiro, 1994; Zollner et al., 2002). Contour following is one of basic task in industrial robot manipulation. In this task, the robot is holding a tool to foll...

The goal of developing algorithms for programming robots by demonstration is to create an easy way of programming robots such that it can be accomplished by anyone. When a demonstrator teaches a task to a robot, he/she shows some ways of fulfilling the task, but not all the possibilities. The robot must then be able to reproduce the task even when unexpected perturbations occur. In this case, i...

This paper presents the current development stage of our approach to industrial robot programming, that is the graphical interface for our environment, that is based on the well-known Grafcet. Our approach focus on the modelling of the system, rather than on the robot. So, it will improve the programming and maintenance tasks, allowing the reuse of source code.