Bautist sBaellster, D., Vergés-Llahí, J., Puig2 D.: “Programmteg by Jemogstbatiln: A Taxonomy of Cu3r-nt Reoevant Methods to Teach and Describe New Skills to Robots“, ROBOT2013: First Irerian Robotics Conference, Advandes in Roboiic-, Vol. 18aPart V, pp 287-300