Towards a Modular and Distributed End-User Development Framework for Human-Robot Interaction

In an effort towards the democratization of Robotics, this article presents a novel End-User Development framework called Robot Interfaces From Zero Experience (RIZE). The framework provides a set of useful software tools for the creation of robot-oriented software architectures and programming inte...

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Published in:	IEEE Access Vol. 9; pp. 12675 - 12692
Main Authors:	Coronado, Enrique, Deuff, Dominique, Carreno-Medrano, Pamela, Tian, Leimin, Kulic, Dana, Sumartojo, Shanti, Mastrogiovanni, Fulvio, Venture, Gentiane
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 2021 Institute of Electrical and Electronics Engineers (IEEE) The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Computer architecture Electrical engineering. Electronics. Nuclear engineering End users end-user development Human engineering human-robot interaction Programming Programming languages Programming profession robot programming Robotics Robots Service robots social robots Software Software development tools Task analysis TK1-9971 Usability Visualization
ISSN:	2169-3536, 2169-3536
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Abstract	In an effort towards the democratization of Robotics, this article presents a novel End-User Development framework called Robot Interfaces From Zero Experience (RIZE). The framework provides a set of useful software tools for the creation of robot-oriented software architectures and programming interfaces, as well as the modeling and execution of robot behaviors, with a specific emphasis on social behaviors. Programming interfaces built on top of RIZE enable professionals with different backgrounds and interests to design, adapt, and scale-up robotics applications. As an example of a programming interface, we present Open RIZE, which exploits an End-User Programming paradigm combining blocks, tables, and forms-filling interfaces. Unlike previous approaches, robot behavioral code generated by Open RIZE is intrinsically modular, re-usable, scalable, neutral to the employed programming language, and platform-agnostic. In the article, we present the main design guidelines and features of Open RIZE. Additionally, we perform an initial usability evaluation of the Open RIZE interface in an online workshop. Preliminary results using the System Usability Scale with 10 novice end-users indicate that Open RIZE is easy-to-use and learn.
AbstractList	In an effort towards the democratization of Robotics, this article presents a novel End-User Development framework called Robot Interfaces From Zero Experience (RIZE). The framework provides a set of useful software tools for the creation of robot-oriented software architectures and programming interfaces, as well as the modeling and execution of robot behaviors, with a specific emphasis on social behaviors. Programming interfaces built on top of RIZE enable professionals with different backgrounds and interests to design, adapt, and scale-up robotics applications. As an example of a programming interface, we present Open RIZE, which exploits an End-User Programming paradigm combining blocks, tables, and forms-filling interfaces. Unlike previous approaches, robot behavioral code generated by Open RIZE is intrinsically modular, re-usable, scalable, neutral to the employed programming language, and platform-agnostic. In the article, we present the main design guidelines and features of Open RIZE. Additionally, we perform an initial usability evaluation of the Open RIZE interface in an online workshop. Preliminary results using the System Usability Scale with 10 novice end-users indicate that Open RIZE is easy-to-use and learn.
Author	Venture, Gentiane Coronado, Enrique Carreno-Medrano, Pamela Tian, Leimin Sumartojo, Shanti Kulic, Dana Deuff, Dominique Mastrogiovanni, Fulvio
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SubjectTerms	Computer architecture Electrical engineering. Electronics. Nuclear engineering End users end-user development Human engineering human-robot interaction Programming Programming languages Programming profession robot programming Robotics Robots Service robots social robots Software Software development tools Task analysis TK1-9971 Usability Visualization
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Title	Towards a Modular and Distributed End-User Development Framework for Human-Robot Interaction
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