Teaching Basic Mobility Skills to Mobile Robots

ROBOTS MICHAEL KAISER, MICHAEL DECK, R UDIGER DILLMANN Institute for Real-Time Computer Systems & Robotics, University of Karlsruhe, D-76128 Karlsruhe, Germany. E-Mail: [email protected] Abstract. Reactive control of a mobile robot requires to map the robot's perceptions into actions by means of a strategy that is goal-oriented. To explicitely encode this strategy is not an easy task. Speci cally, it cannot be assumed that users of future service robots will be able to perform this kind of low-level robot programming. What is sought is a method that allows to intuitively program the robot without requiring knowledge about the robot's hardware, its sensor system, or the actual relationship between both. In this paper, we present such a method that builds basic mobility skills from human demonstrations, i.e., manual operation of the robot only.