Situated Tangible Robot Programming

This paper introduces situated tangible robot programming, whereby a robot is programmed by placing specially designed tangible "blocks" in its workspace. These blocks are used for annotating objects, locations, or regions, and specifying actions and their ordering. The robot compiles a pr...

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Bibliographic Details
Published in:2017 12th ACM/IEEE International Conference on Human-Robot Interaction (HRI pp. 473 - 482
Main Authors: Sefidgar, Yasaman S., Agarwal, Prerna, Cakmak, Maya
Format: Conference Proceeding
Language:English
Published: New York, NY, USA ACM 06.03.2017
Series:ACM Conferences
Subjects:
End-User Robot Programming
Human-centered computing > Human computer interaction (HCI) > Interactive systems and tools
Programming by Demonstration
Robot kinematics
Robot programming
Service robots
Tangible Programming
Task analysis
Visualization
end-user robot programming
tangible programming
programming by demonstration
ISBN:9781450343367, 1450343368
ISSN:2167-2148
Online Access:Get full text
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Summary:This paper introduces situated tangible robot programming, whereby a robot is programmed by placing specially designed tangible "blocks" in its workspace. These blocks are used for annotating objects, locations, or regions, and specifying actions and their ordering. The robot compiles a program by detecting blocks and objects in its workspace and grouping them into instructions by solving constraints. We present a proof-of-concept implementation using blocks with unique visual markers in a pick-and-place task domain. Three user studies evaluate the intuitiveness and learnability of situated tangible programming and iterate the block design. We characterize common challenges and gather feedback on how to further improve the design of blocks. Our studies demonstrate that people can interpret, generalize, and create many different situated tangible programs with minimal instruction or with no instruction at all.
ISBN:9781450343367
1450343368
ISSN:2167-2148
DOI:10.1145/2909824.3020240