Remote teleoperation is an important robot control method when they cannot operate fully autonomously. Yet, teleoperation presents challenges to efective and full robot utilization: controls are cumbersome, inefcient,...
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ISBN:
(纸本)9781450393201
Remote teleoperation is an important robot control method when they cannot operate fully autonomously. Yet, teleoperation presents challenges to efective and full robot utilization: controls are cumbersome, inefcient, and the teleoperator needs to actively attend to the robot and its environment. Inspired by end-userprogramming, we propose a new interaction paradigm to support robot teleoperation for combinations of repetitive and complex movements. We introduce Mimic, a system that allows teleoperators to demonstrate and save robot trajectories as templates, and re-use them to execute the same action in new situations. Templates can be re-used through (1) macros-parametrized templates assigned to and activated by buttons on the controller, and (2) programs-sequences of parametrized templates that operate autonomously. A user study in a simulated environment showed that after initial set up time, participants completed manipulation tasks faster and more easily compared to traditional direct control.
Just as end-userprogramming has helped make computer programming accessible for a variety of users and settings, end-user robot programming has helped empower end-users without specialized knowledge or technical skil...
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Just as end-userprogramming has helped make computer programming accessible for a variety of users and settings, end-user robot programming has helped empower end-users without specialized knowledge or technical skills to customize robotic assistance that meets diverse environmental constraints and task requirements. While end-user robot programming methods such as kinesthetic teaching have introduced direct approaches to task demonstration that allow users to avoid working with traditional programming constructs, our formative study revealed that everyday people still have difficulties in specifying effective robot programs using these methods due to challenges in understanding robot kinematics and programming without situated context and assistive system feedback. These findings informed our development of Demoshop , an interactive robotprogramming tool that includes user-centric programming aids to help end-users author and edit task demonstrations. To evaluate the effectiveness of Demoshop, we conducted a user study comparing task performance and user experience associated with using Demoshop relative to a widely used commercial baseline interface. Results of our study indicate that users have greater task efficiency while authoring robot programs and maintain stronger mental models of the system when using Demoshop compared to the baseline interface. Our system implementation and study have implications for the further development of assistance in end-user robot programming. (C) 2021 Elsevier B.V. All rights reserved.
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