We look at tasks that require a sequence of actions that range from single arm motions, fine manipulation and coordinated behaviors. We use knowledge acquired by observing humans performing a task or by directly guiding the robot through kinesthetic demonstrations.
We develop approaches and applications that:
segment a task in a sequence of meaningful actions with minimal human interference
extract task constraints that are key to successful execution of the task
make it easier to teach robots new tasks, focusing on tasks that require the skill of response to physical perturbations
develop an intuitive way to provide corrections and refine teaching during task execution