PRogramAR: Augmented Reality End-User Robot Programming

IF 4.2 Q2 ROBOTICS ACM Transactions on Human-Robot Interaction Pub Date : 2024-01-12 DOI:10.1145/3640008

Bryce Ikeda, D. Szafir

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Abstract

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.

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PRogramAR：增强现实终端用户机器人编程

终端用户机器人编程领域致力于开发各种方法，让非专业程序员也能完成任务并修改机器人操作。这样，研究人员就可以提高机器人的灵活性，扩大机器人在现实世界中的部署范围。我们介绍了 PRogramAR（使用增强现实技术对机器人进行编程），这是一种新型的终端用户机器人编程系统，它将增强现实技术（AR）的直观视觉反馈与触发式动作编程（TAP）的简易响应范例相结合，促进了人机协作。通过 PRogramAR，用户能够快速编写任务规则和所需的反应式机器人行为，同时指定任务约束条件，并直接观察现实世界中的程序反馈。PRogramAR 通过模拟机器人的预期行为提供反馈，并对 TAP 规则的可执行性进行即时评估，帮助最终用户在开发过程中更好地理解和调试程序。在系统验证中，17 位年龄从 18 岁到 83 岁不等的最终用户使用 PRogramAR 对机器人进行编程，以协助他们完成三项协作任务。我们的研究结果表明，利用先前机器人编程研究中的元素，将 AR 和 TAP 的优势融合到一个新颖的系统中，可以成功增强非专业用户的机器人编程过程。

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来源期刊

ACM Transactions on Human-Robot Interaction Computer Science-Artificial Intelligence

CiteScore

7.70

自引率

5.90%

发文量

期刊介绍： ACM Transactions on Human-Robot Interaction (THRI) is a prestigious Gold Open Access journal that aspires to lead the field of human-robot interaction as a top-tier, peer-reviewed, interdisciplinary publication. The journal prioritizes articles that significantly contribute to the current state of the art, enhance overall knowledge, have a broad appeal, and are accessible to a diverse audience. Submissions are expected to meet a high scholarly standard, and authors are encouraged to ensure their research is well-presented, advancing the understanding of human-robot interaction, adding cutting-edge or general insights to the field, or challenging current perspectives in this research domain. THRI warmly invites well-crafted paper submissions from a variety of disciplines, encompassing robotics, computer science, engineering, design, and the behavioral and social sciences. The scholarly articles published in THRI may cover a range of topics such as the nature of human interactions with robots and robotic technologies, methods to enhance or enable novel forms of interaction, and the societal or organizational impacts of these interactions. The editorial team is also keen on receiving proposals for special issues that focus on specific technical challenges or that apply human-robot interaction research to further areas like social computing, consumer behavior, health, and education.