Skill-based learning of an assembly process

In an era of transformation in manufacturing demographics from mass production to mass customization, advances on human-robot interaction in industries have taken many forms. However, the aim of reducing the amount of programming required by an expert using natural modes of communication is still an open topic. In this paper, we present a platform and a learning framework for human robot cooperation, called XRob. XRob is based on task-based formalism and allows building applications of human robot interactions in an intuitive way. And it enables the user to pursue different levels of shared autonomy between human and robot. The learning framework showcases that it is able to learn a complicated human robot cooperative assembly process and is intuitive to the user. © 2017, Springer-Verlag GmbH Austria.