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The increasing presence of robots in industries has not gone unnoticed. Largeindustrial players have incorporated them into their production lines, butsmaller companies hesitate due to high initial costs and the lack ofprogramming expertise. In this work we introduce a framework that combines twodisciplines, Programming by Demonstration and Automated Planning, to allowusers without any programming knowledge to program a robot. The user teachesthe robot atomic actions together with their semantic meaning and representsthem in terms of preconditions and effects. Using these atomic actions therobot can generate action sequences autonomously to reach any goal given by theuser. We evaluated the usability of our framework in terms of user experimentswith a Baxter Research Robot and showed that it is well-adapted to userswithout any programming experience.

A Framework for Robot Programming in Cobotic Environments: First user experiments