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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)

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A Survey on end-user robot programming

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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

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

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

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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

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iRoPro: An interactive robot programming Framework

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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

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Hiding task-oriented programming complexity: an industrial case study

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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

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

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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

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Supporting end-users in programming Collaborative robots 23

Supporting End-Users in Programming Collaborative Robots

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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

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

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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

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Mimic: In-Situ Recording and Re-Use of Demonstrations to Support robot Teleoperation 22

Mimic: In-Situ Recording and Re-Use of Demonstrations to Sup...

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35th Annual ACM Symposium on user Interface Software and Technology (UIST)

作者： Mahadevan, Karthik Chen, Yan Cakmak, Maya Tang, Anthony Grossman, Tovi Univ Toronto Toronto ON Canada Univ Washington Seattle WA USA

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-user programming, 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.

关键词： robot teleoperation end-user robot programming

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Designing user-centric programming aids for kinesthetic teaching of collaborative robots

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robotICS AND AUTONOMOUS SYSTEMS 2021年 145卷 103845-103845页

作者： Ajaykumar, Gopika Stiber, Maia Huang, Chien-Ming Johns Hopkins Univ Dept Comp Sci Baltimore MD 21218 USA

Just as end-user programming 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 robot programming 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.

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

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