(Georgia Institute of Technology, 2006-11-06)
Chernova, Sonia; Arkin, Ronald C.
Long-term human-robot interaction, especially in the case of humanoid robots, requires an
adaptable and varied behavior base. In this work we present a method for capturing, or learning,
sequential tasks by transferring serial behavior execution from deliberative to routine control. The
incorporation of this approach leads to natural development of complex and varied behaviors, with
lower demands for planning, coordination and resources. We demonstrate how this process can
be performed autonomously as part of the normal function of the robot, without the need for an
explicit learning stage or user guidance. The complete implementation of this algorithm on the
Sony QRIO humanoid robot is described.