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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Vydáno v:IEEE robotics and automation letters Ročník 9; číslo 9; s. 7699 - 7706
Hlavní autoři: Wang, Yeping, Peseckis, Alexander, Jiang, Zelong, Gleicher, Michael
Médium: Journal Article
Jazyk:angličtina
Vydáno: United States IEEE 01.09.2024
Témata:
Data visualization
Quaternions
Robot kinematics
Robot motion
Robotics
software tools for benchmarking and reproducibility
Software tools for robot programming
Three-dimensional displays
Visualization
ISSN:2377-3766, 2377-3774, 2377-3766
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Shrnutí: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.
Bibliografie:USDOE
None
89233218CNA000001
ISSN:2377-3766
2377-3774
2377-3766
DOI:10.1109/LRA.2024.3430649