TRANSFER OF ELEMENTARY SKILLS VIA HUMAN-ROBOT INTERACTION

Transferring elementary skills to robots by means of demonstrations is a very intuitive approach to robes programming. Within this article, an analysis of the process of skill transfer and skill acquisition is provided that explicitly considers the nature of elementary skills and the role of the human user, who acts as a teacher. A process model fo r skill acquisition is developed, and methods and algorithms supportin g the several phases of this process are presented. The whole approach is exemplified by means of manipulation- and navigation-related skill s. Finally, the strengths and limitations of the demonstration-based a pproach in general are discussed.