Situated Live Programming for Human-Robot Collaboration
Situated Live Programming for Human-Robot Collaboration
复制标题
人机协作的现场实时编程
DOI：
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发表时间：
2021
期刊：
影响因子：
--
通讯作者：
Bilge Mutlu
中科院分区：
文献类型：
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作者：
Emmanuel Senft;Michael Hagenow;R. Radwin;M. Zinn;Michael Gleicher;Bilge Mutlu
我们提出了用于人机协作的现场实时编程，这种方法使编程经验有限的用户能够对人机交互的协作应用程序进行编程。允许车间工人等最终用户自行对协作机器人进行编程，可以轻松地将机器人从一个流程“重新分配”到另一个流程，从而促进中小企业采用它们。我们的方法建立在触发动作编程（TAP）范式的基础上，允许最终用户通过简单的触发动作配对创建丰富的交互。它使最终用户能够在执行部分程序的同时迭代地创建、编辑和完善反应式机器人程序。这种实时编程方法使用户能够通过增量指定定位的触发动作对来利用任务空间和对象，从而大大降低了编程或重新编程机器人进行协作的进入门槛。我们在创作系统中实例化现场编程，用户可以通过从机器人的角度注释增强视频源来创建触发动作程序，并将机器人动作分配给触发条件。我们在一项研究中评估了该系统，参与者（n = 10）开发了用于解决协作轻工制造任务的机器人程序。结果表明，几乎没有编程经验的用户能够以交互方式对 HRC 任务进行编程，并且我们的现场编程方法进一步支持个性化策略和工作流程。最后，我们讨论了所提出的方法的机会和局限性、我们的系统实现和我们的研究，并讨论了将该方法扩展到更广泛的任务和应用的路线图。
We present situated live programming for human-robot collaboration, an approach that enables users with limited programming experience to program collaborative applications for human-robot interaction. Allowing end users, such as shop floor workers, to program collaborative robots themselves would make it easy to “retask” robots from one process to another, facilitating their adoption by small and medium enterprises. Our approach builds on the paradigm of trigger-action programming (TAP) by allowing end users to create rich interactions through simple trigger-action pairings. It enables end users to iteratively create, edit, and refine a reactive robot program while executing partial programs. This live programming approach enables the user to utilize the task space and objects by incrementally specifying situated trigger-action pairs, substantially lowering the barrier to entry for programming or reprogramming robots for collaboration. We instantiate situated live programming in an authoring system where users can create trigger-action programs by annotating an augmented video feed from the robot’s perspective and assign robot actions to trigger conditions. We evaluated this system in a study where participants (n = 10) developed robot programs for solving collaborative light-manufacturing tasks. Results showed that users with little programming experience were able to program HRC tasks in an interactive fashion and our situated live programming approach further supported individualized strategies and workflows. We conclude by discussing opportunities and limitations of the proposed approach, our system implementation, and our study and discuss a roadmap for expanding this approach to a broader range of tasks and applications.
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DOI：
10.1145/3242587.3242634
发表时间：
2018
期刊：
Proceedings of the 31st Annual ACM Symposium on User Interface Software and Technology
影响因子：
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作者：
Porfirio, David;Sauppé, Allison;Albarghouthi, Aws;Mutlu, Bilge
通讯作者：
Mutlu, Bilge
DOI：
10.1145/2858036.2858556
发表时间：
2016-05
期刊：
Proceedings of the 2016 CHI Conference on Human Factors in Computing Systems
影响因子：
--
作者：
Blase Ur;Melwyn Pak Yong Ho;Stephen Brawner;Jiyun Lee;Sarah Mennicken;N. Picard;Diane Schulze;M. Littman
通讯作者：
Blase Ur;Melwyn Pak Yong Ho;Stephen Brawner;Jiyun Lee;Sarah Mennicken;N. Picard;Diane Schulze;M. Littman
Vipo：具有机器人物联网工作流程功能的空间可视化编程
DOI：
10.1145/3313831.3376670
发表时间：
2020
期刊：
Proceedings of the 2020 CHI Conference on Human Factors in Computing Systems
影响因子：
--
作者：
Huang, Gaoping;Rao, Pawan S.;Wu, Meng-Han;Qian, Xun;Nof, Shimon Y.;Ramani, Karthik;Quinn, Alexander J.
通讯作者：
Quinn, Alexander J.
Authr：人机团队的任务创作环境
DOI：
10.1145/3379337.3415872
发表时间：
2020
期刊：
UIST '20: Proceedings of the 32nd Annual ACM Symposium on User Interface Software and Technology
影响因子：
--
作者：
Schoen, Andrew;Henrichs, Curt;Strohkirch, Mathias;Mutlu, Bilge
通讯作者：
Mutlu, Bilge