Robust One-Shot Robot Programming by Demonstration Using Entity-Based Resources

General purpose robots are established tools in a variety of industrial applications. An important goal in actual research is to transfer the advantages of these tools into more unstructured environments like househoulds or small and medium sized enterprises. One challenge in this field is to enable non-experts to use all the capabilities of a robot. This includes two aspects: Robots must be intuitive to program and robust to execute. The main contribution of this work is a novel programming approach, that concerns both aspects. Thus our system enables users to guide a robot kinesthetically through a task without prior knowledge. By observing resources in the workspace, the demonstrated task is encoded as a finite state machine (FSM). This FSM allows the reproduction of a task by the robot itself. Furthermore, our approach can integrate a deviation detection method to robustify task reproductions.