Abstract
Advanced teaching-by-guiding, a new philosophy in robot programming, is introduced and proposed as a practicable methodology for experimental systems as well as for industrial applications. The basic idea is to combine the power of an interactive programming language with the ease of the traditional teaching-by-guiding method. POINTY, the system designed and implemented at Stanford Artificial Intelligence Laboratory as a tool for writing manipulator programs, is the first working implementation of that philosophy. POINTY makes an extensive use of the interaction through the manipulator with the physical world. Object models are specified and incrementally constructed with an interactive very-high-level language, while the manipulator employed as a measuring tool to define points of interest on the assembly parts. The association of those two aspects in the same system opens new directions for manipulator programming, as the encouraging results obtained in real world applications of POINTY indicate.
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