Motion Comparator: Visual Comparison of Robot Motions
Roboticists compare robot motions for tasks such as parameter tuning, troubleshooting, and deciding between possible motions. However, most existing visualization tools are designed for individual motions and lack the features necessary to facilitate robot motion comparison. In this letter, we utili...
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| Veröffentlicht in: | IEEE robotics and automation letters Jg. 9; H. 9; S. 7699 - 7706 |
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| Hauptverfasser: | , , , |
| Format: | Journal Article |
| Sprache: | Englisch |
| Veröffentlicht: |
United States
IEEE
01.09.2024
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| Schlagworte: | |
| ISSN: | 2377-3766, 2377-3774, 2377-3766 |
| Online-Zugang: | Volltext |
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| Zusammenfassung: | Roboticists compare robot motions for tasks such as parameter tuning, troubleshooting, and deciding between possible motions. However, most existing visualization tools are designed for individual motions and lack the features necessary to facilitate robot motion comparison. In this letter, we utilize a rigorous design framework to develop Motion Comparator , a web-based tool that facilitates the comprehension, comparison, and communication of robot motions. Our design process identified roboticists' needs, articulated design challenges, and provided corresponding strategies. Motion Comparator includes several key features such as multi-view coordination, quaternion visualization, time warping, and comparative designs. To demonstrate the applications of Motion Comparator, we discuss four case studies in which our tool is used for motion selection, troubleshooting, parameter tuning, and motion review. |
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| Bibliographie: | USDOE None 89233218CNA000001 |
| ISSN: | 2377-3766 2377-3774 2377-3766 |
| DOI: | 10.1109/LRA.2024.3430649 |