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Robot programming by non-experts : Intuitiveness and robustness of One-Shot robot programming

Title data

Orendt, Eric M. ; Fichtner, Myriel ; Henrich, Dominik:
Robot programming by non-experts : Intuitiveness and robustness of One-Shot robot programming.
In: 25th IEEE International Symposium on Robot and Human Interactive Communication : (RO-MAN). - New York , 2016 . - pp. 192-199
ISBN 9781509039296
DOI: https://doi.org/10.1109/ROMAN.2016.7745110

Abstract in another language

General purpose robots are established tools in a variety of industrial applications. Current household robots, however, are limited in capabilities and purpose. One reason for this is the programming effort required to utilize a general purpose robot. A popular strategy to reduce programming effort is Programming by Demonstration (PbD). Usually PbD requires several tedious demonstrations to teach a robot some behavior or skill. Notably, there are just few approaches where a single demonstration suffices. Such One-Shot approaches reduce programming effort even further and allow non-experts to quickly and intuitively program a general purpose robot. In this work we evaluate intuitiveness and robustness (i.e. the dependability when executing non-expert generated programs) of a One-Shot PbD system. To this end, we carried out a user study with 34 participants. Our participants used kinesthetic programming to complete various tasks with a light-weight robot. We instructed users with standard methods, either by speech, by graphical tutorial or by video. During the study, structured questionnaires and an observation sheet collected user impressions: The effectiveness when solving a task, the efficiency and (mental) effort during programming, the attitude towards the robot, and finally the satisfaction with the entire system. User ratings on all aspects confirm the high intuitiveness of the investigated system. In contrast to other approaches, the study did not depend on a specific instructional material to achieve high intuitiveness ratings. Overall, our findings support the advantages of a One-Shot programming system and give important insights into general requirements for robot programming by non-experts. We conclude that the investigated One-Shot PbD approach forms a vital tool for the use of robots in private households.

Further data

Item Type: Article in a book
Refereed: Yes
Keywords: Programming; Robustness; Service robots; Trajectory; Grippers; Robot kinematics
Institutions of the University: Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Computer Science > Chair Applied Computer Science III
Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Computer Science > Chair Applied Computer Science III > Chair Applied Computer Science III - Univ.-Prof. Dr. Dominik Henrich
Result of work at the UBT: Yes
DDC Subjects: 000 Computer Science, information, general works > 004 Computer science
600 Technology, medicine, applied sciences > 600 Technology
Date Deposited: 17 Jul 2019 08:19
Last Modified: 17 Jul 2019 08:19
URI: https://eref.uni-bayreuth.de/id/eprint/51531