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...
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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 (programmingrobots 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 endusers better understand and debug their programs during development. In a system validation, 17 endusers 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 robotprogramming research into a single novel system can successfully enhance the robotprogramming process for non-expert users.
As robots interact with a broader range of end-users, end-user robot programming has helped democratize robotprogramming by empowering end-users who may not have experience in robotprogramming to customize robots to...
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As robots interact with a broader range of end-users, end-user robot programming has helped democratize robotprogramming by empowering end-users who may not have experience in robotprogramming 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.
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 robotprogramming interface to create and edit r...
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ISBN:
(纸本)9781450370578
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 robotprogramming interface to create and edit robot programs. We discuss how our findings translate to design opportunities in end-user robot programming.
The great diversity of end-user tasks ranging from manufacturing environments to personal homes makes pre-programmingrobots for general purpose applications extremely challenging. In fact, teaching robots new actions...
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The great diversity of end-user tasks ranging from manufacturing environments to personal homes makes pre-programmingrobots 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 robotprogramming 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 robotprogramming 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 robotprogramming process.
The ease of use of robotprogramming interfaces represents a barrier to robot adoption in several manufacturing sectors because of the need for more expertise from the end-users. Current robotprogramming methods are ...
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The ease of use of robotprogramming interfaces represents a barrier to robot adoption in several manufacturing sectors because of the need for more expertise from the end-users. Current robotprogramming 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.
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 assista...
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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 programmingrobot 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 robotprogramming 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 robotprogramming interactions for older adults.
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 untraine...
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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.
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 difficu...
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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 robotprogramming). 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).
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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