On-Line Programming of Robot Skills

Robot skills provide a way to model and reuse sensor and robot technologies in effective ways. Skills can integrate and synchronize robot actions and sensor data in a consistent way and provide a framework for configurable robot systems, enabling quick setups of applications. Skills and skill modeling can be used not only for representing the composition of sensor based robot tasks, but also for programming on-line such tasks. In this paper we will introduce a skill based approach for representing on-line programming of skill based tasks. We will also give a practical example for modelling and implementing on-line programming of a handling skill relying on use of object localization sensors.