Giusti, A.A.GiustiZeestraten, M.J.A.M.J.A.ZeestratenIcer, E.E.IcerPereira, A.A.PereiraCaldwell, D.G.D.G.CaldwellCalinon, S.S.CalinonAlthoff, M.M.Althoff2022-03-052022-03-052018https://publica.fraunhofer.de/handle/publica/25647910.1109/MRA.2018.28105432-s2.0-85046779662An important question for production engineers is, "How do I automate this task?" In traditional industrial automation, e.g., a car factory, robots perform a small set of tasks for long periods of time. Robots are selected because their kinematic structure and strength suit the task requirements, and their motions are preprogrammed by a skilled programmer. In flexible manufacturing environments, tasks can change daily or hourly. The classic approach to automation is less suitable here; buying a dedicated robot for each set of tasks is inefficient, and coding each task is very time-consuming. Furthermore, qualified programmers with the requisite knowledge may not be available. To solve these problems, we propose a framework for modular robots that determines their structure and program based on human demonstrations.en629journal article