A usable interactive system provides its users with presentation and manipulation of useful concepts for solving their problems at hand without becoming bogged down in accidental features of user interface. It implicates that interaction design is directed by the acquisition and representation of knowledge about the context of use in a way that can be traced back to the users’ problem-solving a...

1. Introduction The development of a humanoid robot within the scope of special research area 588 has the objective of creating a machine that closely cooperates with humans. This leads to requirements such as little weight, small moving masses (no potential danger for persons in case of collision), as well as appearance, motion space, and work movements after the human model. One reason for th...