End-user programming for Human-Robot Interaction means developing tools and methods that enable non-programmers to program robots. I did research on cobot user interfaces that are intended for end-user programming, and developed design guidelines for such systems. I also investigated interaction design aspects of tools that make use of motion imitation to program robot motion. For this, I developed a prototype for recording robot motion, based on a system for human-humanoid motion imitation for the Pepper robot.