A Knowledge Based Approach to User Support for Robot Programming

e summarize our successful efforts to support in-tuitive programming of industrial robotic assemblytasks with a knowledge based approach to the rep-resentation of skills. These skills can be specified,re-used, refined and transferred between robotswith the help of a multimodal interface combinedwith kinesthetic teaching. We argue that while itis certainly possible and suitable to have robotsacquire skills or skill primitives through variouslearning methods, it is still crucial to provide ex-plicit knowledge and semantics available to them.