  We introduce a novel paradigm for robot pro- gramming with which we aim to
make robot programming more accessible for unexperienced users. In order to do
so we incorporate two major components in one single framework: autonomous
skill acquisition by robotic playing and visual programming. Simple robot
program skeletons solving a task for one specific situation, so-called basic
behaviours, are provided by the user. The robot then learns how to solve the
same task in many different situations by autonomous playing which reduces the
barrier for unexperienced robot programmers. Programmers can use a mix of
visual programming and kinesthetic teaching in order to provide these simple
program skeletons. The robot program can be implemented interactively by
programming parts with visual programming and kinesthetic teaching. We further
integrate work on experience-based skill-centric robot software testing which
enables the user to continuously test implemented skills without having to deal
with the details of specific components.
