Integrated acquisition, execution, evaluation, and tuning of elementary skills for intelligent robots

This paper presents an approach to integrated acquistion, evaluation, tuning, and execution of elementary skills in order to ease programming and employment of robots. To allow the use of machine learning techniques as well as real-time execution of the skills, a twofold representation is developed. The individual learning tasks involved in the generation and maintenance of skills are identified and related to proper learning techniques. A programming environment and a low level architecture taking care of the different requirements during all phases of skill acquisition and execution are described.