Presents a framework for robot programming by human demonstration. The framework builds a high level robot controller using information extracted from the demonstration. The high level robot controller is broken down into three component parts, each fulfilling a different function during execution. The paper focuses on the construction of an event path planner, which determines the optimal event path of a task. The approach varies the optimal path according to what characteristics of the demonstrations are stressed, thus giving the robot a selected disposition. The approach was implemented on a simple navigational task. The event path planner selected appropriate paths and could change its selection according to what characteristics were desired in the selected path.
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