Robot Programming Based on a Single Demon - Stration and User

This paper presents a method that allows to create programs by following the Programming by Demonstration paradigm. Plans for the execution of production processes such as assembly or stacking operation sequences are constructed not only from examples provided by the user through demonstrations. Additionally, the intention the user had in mind when demonstrating a speciic example is acquired through a textual interface. By using these two sources of information a generalized plan containing conditioned operation sets can be constructed. Hence a solution for a whole class of tasks can be derived from a single demonstration.