Method for controlling a robotic device and robot control unit

A robot control unit configured to control a robotic device, the robot control unit configured to:

• provide demonstrations for carrying out each of multiple movement skills;
• train a respective robot trajectory model for each movement skill from the demonstrations;
• receive a sequence plan for one of the tasks to be carried out by the robot, the sequence plan including a sequence made up of the movement skills and primitive actions;
• ascertain a reduced sequence plan from the sequence plan by omitting the primitive actions;
• generate a composite robot trajectory model from two of the respective robot trajectory models of two of the movement skills for the reduced sequence plan by, when two of the movement skills according to the reduced sequence plan are to be carried out in succession, cascading the two of the robot trajectory models of the two of the movement skills;
• and
• control the robot according to the composite robot trajectory model, wherein when, after one movement skill according to the sequence plan, one or multiple primitive actions is executed before a next movement skill, the control of the robot according to the composite robot trajectory model is interrupted after carrying out one movement skill, and the one or multiple primitive actions is executed and the control of the robot according to the composite robot trajectory model is then resumed.

A non-transitory computer-readable medium on which is stored commands for controlling a robotic device, the commands, when executed by a processor, causing the processor to perform the following steps:

• providing demonstrations for carrying out each of multiple movement skills;
• training a respective robot trajectory model for each movement skill from the demonstrations;
• receiving a sequence plan for one of the tasks to be carried out by the robot, the sequence plan including a sequence made up of the movement skills and primitive actions;
• ascertaining a reduced sequence plan from the sequence plan by omitting the primitive actions;
• generating a composite robot trajectory model from two of the respective robot trajectory models of two of the movement skills for the reduced sequence plan by, when two of the movement skills according to the reduced sequence plan are to be carried out in succession, cascading the two of the robot trajectory models of the two of the movement skills;
• and
• controlling the robot according to the composite robot trajectory model, wherein when, after one movement skill according to the sequence plan, one or multiple primitive actions is executed before a next movement skill, the control of the robot according to the composite robot trajectory model is interrupted after carrying out one movement skill, and the one or multiple primitive actions is executed and the control of the robot according to the composite robot trajectory model is then resumed.