Teaching, Learning, and Adaptation

Providing effective assistance requires the robot to have its own intelligence. Using predefined functions, this is achievable only in a limited way. It is thus essential that the robot assistant be capable of learning and receiving instructions on various levels of abstraction. This includes programming of single movements, matching of pre-defined, generic capabilities (also called skills) and finally teaching of complete task sequences (macroskills). At the same time, the system should be able to evaluate the consequences of actions based on its own experience and utilize the results of this evaluation for the purposes of adapting and improving its knowledge. Such evaluations can be learned or imparted by the user through appropriate information channels.

Research topics in the areas of teaching, learning, and adaptation which will be investigated in MORPHA include:

	programming of motion sequences through demonstration via force-sensitive guidance, visual guidance or force-reflecting input devices
	visual commanding (e.g. specifying directions, pointing at and naming objects)
	teaching and learning of senso-motory skills such as grasping
	learning of generic actions and task sequences (macroskills)
	learning techniques and paradigm