检索结果-内蒙古大学图书馆

PRogramAR: Augmented Reality end-user robot programming

ACM TRANSACTIONS ON HUMAN-robot INTERACTION 2024年第1期13卷 1-20页

作者： Ikeda, Bryce Szafir, Daniel Univ N Carolina Dept Comp Sci 232 S Columbia St209 Sitterson Hall Chapel Hill NC 27514 USA

The field of end-user robot programming seeks to develop methods that empower non-expert programmers to task and modify robot operations. In doing so, researchers may enhance robot flexibility and broaden the scope of robot deployments into the real world. We introduce PRogramAR (programming robots using Augmented Reality), a novel end-user robot programming system that combines the intuitive visual feedback of augmented reality (AR) with the simplistic and responsive paradigm of trigger-action programming (TAP) to facilitate human-robot collaboration. Through PRogramAR, users are able to rapidly author task rules and desired reactive robot behaviors, while specifying task constraints and observing program feedback contextualized directly in the real world. PRogramAR provides feedback by simulating the robot's intended behavior and providing instant evaluation of TAP rule executability to help end users better understand and debug their programs during development. In a system validation, 17 end users ranging from ages 18 to 83 used PRogramAR to program a robot to assist them in completing three collaborative tasks. Our results demonstrate how merging the benefits of AR and TAP using elements from prior robot programming research into a single novel system can successfully enhance the robot programming process for non-expert users.

关键词： end-user robot programming Trigger-Action programming (TAP) Augmented Reality (AR) Human-robot Interaction (HRI) Human-robot Collaboration (HRC)

来源：评论

学校读者我要写书评

暂无评论

user Needs and Design Opportunities in end-user robot programming 15

User Needs and Design Opportunities in End-User Robot Progra...

引用

15th Annual ACM/IEEE International Conference on Human-robot Interaction (HRI)

作者： Ajaykumar, Gopika Huang, Chien-Ming Johns Hopkins Univ Baltimore MD 21218 USA

We report on a user study that sought to understand how users program robot tasks by direct demonstration and what problems they encounter when using a state-of-the-art robot programming interface to create and edit r... 详细信息

ISBN: (纸本)9781450370578

关键词： end-user robot programming programming by Demonstration

来源：评论

学校读者我要写书评

暂无评论

A Survey on end-user robot programming

引用

ACM COMPUTING SURVEYS 2021年第8期54卷 164-164页

作者： Ajaykumar, Gopika Steele, Maureen Huang, Chien-Ming Johns Hopkins Univ Dept Comp Sci 3400 N Charles St Baltimore MD 21218 USA

As robots interact with a broader range of end-users, end-user robot programming has helped democratize robot programming by empowering end-users who may not have experience in robot programming to customize robots to meet their individual contextual needs. This article surveys work on end-user robot programming, with a focus on end-user program specification. It describes the primary domains, programming phases, and design choices represented by the end-user robot programming literature. The survey concludes by highlighting open directions for further investigation to enhance and widen the reach of end-user robot programming systems.

关键词： end-user robot programming human-robot interaction end-user programming

来源：评论

学校读者我要写书评

暂无评论

iRoPro: An interactive robot programming Framework

引用

INTERNATIONAL JOURNAL OF SOCIAL robotICS 2022年第1期14卷 177-191页

作者： Liang, Ying Siu Pellier, Damien Fiorino, Humbert Pesty, Sylvie Univ Grenoble Alpes LIG F-38000 Grenoble France

The great diversity of end-user tasks ranging from manufacturing environments to personal homes makes pre-programming robots for general purpose applications extremely challenging. In fact, teaching robots new actions from scratch that can be reused for previously unseen tasks remains a difficult challenge and is generally left up to robotics experts. In this work, we present iRoPro, an interactive robot programming framework that allows end-users with little to no technical background to teach a robot new reusable actions. We combine programming by Demonstration and Automated Planning techniques to allow the user to construct the robot's knowledge base by teaching new actions by kinesthetic demonstration. The actions are generalised and reused with a task planner to solve previously unseen problems defined by the user. We implement iRoPro as an end-to-end system on a Baxter Research robot to simultaneously teach low- and high-level actions by demonstration that the user can customise via a Graphical user Interface to adapt to their specific use case. To evaluate the feasibility of our approach, we first conducted pre-design experiments to better understand the user's adoption of involved concepts and the proposed robot programming process. We compare results with post-design experiments, where we conducted a user study to validate the usability of our approach with real end-users. Overall, we showed that users with different programming levels and educational backgrounds can easily learn and use iRoPro and its robot programming process.

关键词： end-user robot programming programming by demonstration Automated planning Human-robot interaction

来源：评论

学校读者我要写书评

暂无评论

Situated Tangible robot programming 17

Situated Tangible Robot Programming

引用

12th Annual ACM/IEEE International Conference on Human-robot Interaction (HRI)

作者： Sefidgar, Yasaman S. Agarwal, Prerna Cakmak, Maya Univ Washington Comp Sci & Engn 185 Stevens Way Seattle WA 98195 USA

ISBN: (纸本)9781450343367

This paper introduces situated tangible robot programming, whereby a robot is programmed by placing specially designed tangible "blocks" in its workspace. These blocks are used for annotating objects, locations, or regions, and specifying actions and their ordering. The robot compiles a program by detecting blocks and objects in its workspace and grouping them into instructions by solving constraints. We present a proof-of-concept implementation using blocks with unique visual markers in a pick-and-place task domain. Three user studies evaluate the intuitiveness and learnability of situated tangible programming and iterate the block design. We characterize common challenges and gather feedback on how to further improve the design of blocks. Our studies demonstrate that people can interpret, generalize, and create many different situated tangible programs with minimal instruction or with no instruction at all.

关键词： end-user robot programming programming by Demonstration Tangible programming

来源：评论

学校读者我要写书评

暂无评论

Older adults' expectations, experiences, and preferences in programming physical robot assistance

引用

INTERNATIONAL JOURNAL OF HUMAN-COMPUTER STUDIES 2023年 180卷

作者： Ajaykumar, Gopika Pineda, Kaitlynn Taylor Huang, Chien-Ming Johns Hopkins Univ Baltimore MD 21218 USA

robots are expected to be key enablers in assisting older adults with aging in place by providing cognitive, social, and physical assistance. Because older adults vary greatly in terms of their needs for robot assistance, there may be potential advantages to enabling them to tailor robot assistance to work for their unique contexts through end-user robot programming. However, little is known about the feasibility and potential of engaging older adults in programming robot assistance. In this work, we explore the possibility of engaging older adults in programming physical robot assistance through field study sessions in older adults' homes. Through interviews and observations of older adults' programming experiences using a contemporary commercial robot programming method, we found that familiarity with other forms of automation and interactions, changes in abilities due to aging, multi-user and collaborative programming, cognitive exercise, and mental model formation can play an important role in shaping older adults' expectations, experiences, and preferences in programming physical robot assistance. Based on these findings, we recommend guidelines to consider when designing future robot programming interactions for older adults.

关键词： Human-robot interaction end-user robot programming

来源：评论

学校读者我要写书评

暂无评论

robot behavior debugger for non-expert users in convenience stores using behavior trees

引用

ADVANCED robotICS 2022年第17-18期36卷 951-966页

作者： Tulathum, Pattaraporn Usawalertkamol, Bunyapon Ricardez, Gustavo Alfonso Garcia Takamatsu, Jun Ogasawara, Tsukasa Matsumoto, Kenichi Nara Inst Sci & Technol Div Informat Sci Ikoma Japan Ritsumeikan Univ Coll Informat Sci & Engn Kusatsu Japan Microsoft Redmond WA USA

As the problematic consequence of an aging society, with increasing labor shortage, there is a need for service robots to efficiently support the works in many places such as convenience stores. However, it is difficult to program a robot behavior and meet the needs of the shop staff (i.e. non-expert users who lack of knowledge and experience in robot programming). Hence, there is the need for a system to help non-expert users to identify and fix the issues within the robot behaviors. This paper proposes a Behavior Tree-based robot behavior creation system for non-expert users with four debugging features and a simulator. Non-expert users can use drag-and-drop composition to create the robot behavior program. Moreover, our debugger allows non-expert users to use breakpoints, log node status, monitor node execution, show robot status variables, and also can visually verify the robot behaviors via a simulator. We evaluate the effectiveness of our debugging system with 14 non-expert users by asking them to solve three tasks (i.e. creating and fixing Behavior Trees) from the given convenience store scenario. The experimental results show that more than 70% of non-expert users can utilize our debugging features to finish all the tasks. Additionally, our system usability has a high marginal level from the subjects' perspective according to the System Usability Scale (SUS).

关键词： Human-robot Interaction (HRI) end-user robot programming debugging system non-expert users Future Convenience Store Challenge

来源：评论

学校读者我要写书评

暂无评论

Hiding task-oriented programming complexity: an industrial case study

引用

INTERNATIONAL JOURNAL OF COMPUTER INTEGRATED MANUFACTURING 2023年第11期36卷 1629-1648页

作者： Villagrossi, Enrico Delledonne, Michele Faroni, Marco Beschi, Manuel Pedrocchi, Nicola Natl Res Council Italy Inst Intelligent Ind Technol & Syst Adv Mfg Via A Corti 12 I-20133 Milan Italy Univ Brescia Dept Mech & Ind Engn Brescia Italy

The ease of use of robot programming interfaces represents a barrier to robot adoption in several manufacturing sectors because of the need for more expertise from the end-users. Current robot programming methods are mostly the past heritage, with robot programmers reluctant to adopt new programming paradigms. This work aims to evaluate the impact on non-expert users of introducing a new task-oriented programming interface that hides the complexity of a programming framework based on ROS. The paper compares the programming performance of such an interface with a classic robot-oriented programming method based on a state-of-the-art robot teach pendant. An experimental campaign involved 22 non-expert users working on the programming of two industrial tasks. Task-oriented and robot-oriented programming showed comparable learning time, programming time and the number of questions raised during the programming phases, highlighting the possibility of a smooth introduction to task-oriented programming even to non-expert users.

关键词： Intuitive robot programming task-oriented programming human-machine interaction end-user robot programming

来源：评论

学校读者我要写书评

暂无评论

Supporting end-users in programming Collaborative robots 23

Supporting End-Users in Programming Collaborative Robots

引用

18th Annual ACM/IEEE International Conference on Human-robot Interaction (HRI)

作者： Ajaykumar, Gopika Johns Hopkins Univ Baltimore MD 21218 USA

ISBN: (纸本)9781450399708

end-user robot programming methods have come a long way in enabling users who do not have conventional robotics training to customize robot behaviors. However, such methods can still be difficult to adopt for untrained users. In this abstract, I describe my work towards designing tailored support to reduce barriers preventing end-users from programming collaborative robots.

关键词： end-user robot programming

来源：评论

学校读者我要写书评

暂无评论

Contextual programming of Collaborative robots 1

引用

1st International Conference on Artificial Intelligence in HCI (AI-HCI) Held as Part of the 22nd International Conference on Human-Computer Interaction (HCII)

作者： Huang, Chien-Ming Johns Hopkins Univ Baltimore MD 21218 USA

ISBN: (数字)9783030503345

ISBN: (纸本)9783030503338;9783030503345

Collaborative robots are envisioned to assist people in an increasing range of domains, from manufacturing to home care;however, due to the variable nature of these fields, such robots will inevitably face unfamiliar situations and unforeseen task requirements, and must be able to interact with users who possess diverse skill sets, backgrounds, and needs. Presently, robust, autonomous solutions for appropriately handling these vast possibilities and uncertainties are unattainable. end-user robot programming offers an alternative approach that lets end users provide task specifications and author robot skills to meet their own specific contextual constraints and custom task needs. Contextual information-such as task objects, environmental landmarks, and user preferencesis essential in realizing desirable, flexible, and reliable robot programs. However, most robot programming systems at present do not afford intuitive ways of specifying contextual information. In this paper, we draw on our prior work to illustrate the barriers to end-user robot programming when using a state-of-the-art programming interface. We then present two case studies that explore new approaches to providing a robot system with contextual information about the user, task, and environment, and how these methods can help improve task performance and user experience. We discuss our findings and future directions for building effective end-user programming tools to bring robotic assistance closer to everyday users.

关键词： Human-robot interaction Collaborative robotics end-user robot programming programming by demonstration

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：