at Google ScholarTitle data
Hartwig, Johannes ; Ruppert, Pascal ; Henrich, Dominik:
Input and Editing of Force Profiles of In-Contact Robot Motions via a Touch Graphical User Interface.
In:
Seventh IEEE International Conference on Robotic Computing. -
Laguna Hills, CA
,
2023
. - pp. 182-189
DOI: https://doi.org/10.1109/IRC59093.2023.00038
Abstract in another language
Various automation tasks require the precise specification of forces/torques over time and space to be applied to the environment. Traditionally, only experts can provide such specifications, contrasting the need for intuitive robot programming in small and medium-sized enterprises. This paper presents a concept for extending kinesthetic robot programming to allow users to program motions in contact with the environment. In this context, four novel input methods enable non-experts to input and edit force/torque profiles graphically via a touch device as a function graph. A user study compares the input methods regarding duration, accuracy, and workload. In addition, the system's intuitiveness and usability for programming in-contact motions are evaluated. Even for a small sample set (N = 20), the evaluation of the System Usability Scale (SUS) showed a high median result (82.5). Thus, the promising results indicate that the presented programming system is usable and intuitive for non-experts.
Further data
| Item Type: | Article in a book |
|---|---|
| Refereed: | Yes |
| Institutions of the University: | 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 Faculties Faculties > Faculty of Mathematics, Physics und Computer Science Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Computer Science Faculties > Faculty of Mathematics, Physics und Computer Science > Department of Computer Science > Chair Applied Computer Science III |
| Result of work at the UBT: | Yes |
| DDC Subjects: | 000 Computer Science, information, general works > 004 Computer science |
| Date Deposited: | 14 Feb 2025 08:38 |
| Last Modified: | 27 Feb 2025 08:29 |
| URI: | https://eref.uni-bayreuth.de/id/eprint/91722 |