关键词：机器人；交互式；辅导；混合
摘 要：Integrating the components described in the previous articles of this chapter, we introduce the Bielefeld "Curious Robot", which is able to acquire new knowledge and skills in direct human-robot interaction. This paper focuses on the cognitive architecture of the overall system. We propose to combine (i) a communication layer based on a generic, human-accessible XML data format, (ii) multiple low-level sensor and control processes publishing their sensor information into the system and receiving commands or parameterizations from higher-level deliberative processes, and (iii) high-level coordination processes based on hierarchical state machines. The efficiency of the proposed approach is shown in an interactive tutoring scenario, where the Bielefeld "Curious Robot", a bimanual robot system, should learn to identify, grasp, and clean various everyday objects from a table. The capability of the system to interact with lay persons is proven in a user study.