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Giving advice to a mobile robot assistant still requires classical user interfaces. A more intuitive way of commanding is achieved by verbal or gesture commands. In this article, we present new approaches and enhancements for established methods that are in use in our laboratory. Our aim is to interact with a robot using natural and direct communication(More)
Giving advice to a mobile robot assistant still requires classical user interfaces. A more intuitive way of commanding is achieved by verbal or gesture commands. In this article, we present new approaches and enhancements for established methods that are in use in our laboratory. Our aim is to interact with a robot using natural and direct communication(More)
Service robots require easy programming methods allowing the unexperienced human user to easily integrate motion and perception skills or complex problem solving strategies. To achieve this goal, robots should learn from operators how and what to do considering hard-and software constraints. Various approaches modelling the man-machine skill transfer have(More)
The Programming by Demonstration (PbD) paradigm enable programming of service robots by un-experienced human users. The main goal of these systems is to allow the unexperienced human user to easily integrate motion and perception skills or complex problem solving strategies. Unfortunately actual PbD systems are dealing only with manipulations based on Pick(More)
Service robots require interactive programming interfaces that allow users without programming experience to easily instruct the robots. Systems following the Programming by Demonstration (PbD) paradigm that were developed within the last years are getting closer to this goal. However, most of these systems lack the possibility for the user to supervise and(More)
Robot assistants will only reach a mass consumer market when they are easy to use. This applies especially to the way a user programs it's robot system. The only approach that enables a non expert robot user to teach a system complex tasks is programming by demonstration. This paper explains the basic concepts for mapping typical human actions performed in(More)
Programming of service robots is an expensive and difficult task especially when manipulator arms are involved. This is one of the drawbacks for every day use of these systems. Programming by Demonstration is a means to let users program robots simply by demonstrating a task like putting a table or composing an object to a system that observes, interprets(More)
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 in-and output or via gestures is a big step to meet this requirement. Besides these channels, recognition of the(More)
Main goal of the German Collaborative Research Center (GCRC) is to build an anthropomorphic robot which is able to cooperate with humans. It addresses scientific problems in four different fields: humanoid mechatronics, multimodal interfaces, man-machine-cooperation and machine-learning. Among those, natural, multimodal interaction is a key issue of(More)