Programming by demonstration is a promising approach to automatic robot programming, however methods are required to remove suboptimal actions that can be demonstrated by end users. In this paper we use the partial knowledge of Con guration Space (C-space) derived in previous work to remove suboptimal actions from a demonstration. Our idea is to use demonstrated paths to predict what regions in...

ii

Robot skills are low-level motion and/or grasping capabilities that constitute the basic building blocks from which tasks are built. Teaching and recognition of such skills can be done by Programming-by-Demonstration approach. A human operator demonstrates certain skills while his motions are recorded by a datacapturing device and modeled in our case via fuzzy clustering and Takagi-Sugeno model...

Natural, multimodal interaction is a key issue of humanoid robots since a human-like appearance suggests human-like properties and behavior. Although human communication in all its facets seems to be hardly reachable today, interaction via verbal inand output or via gestures is a big step to meet this requirement. Besides these channels, recognition of the interaction context is important becau...

Let K be a set of positive integers. A pairwise balanced design (PBD) of index unity B(K,l;v) is a pair (X/~) where X is a v-set (of points) and B is a collection of subsets of X (called blocks) with sizes from K such that every pair of distinct points of X is contained in exactly one block of~. A necessary condition for the existence of a PBD B({4,8},I;v) is v-0 or l(mod 4). It is shown that t...