Augmented Reality Spatial Programming Paradigm Applied to End-User Robot Programming

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26230%2F24%3APU151173" target="_blank" >RIV/00216305:26230/24:PU151173 - isvavai.cz</a>

Result on the web

<a href="https://www.fit.vut.cz/research/publication/12818/" target="_blank" >https://www.fit.vut.cz/research/publication/12818/</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.rcim.2024.102770" target="_blank" >10.1016/j.rcim.2024.102770</a>

Result language

angličtina

Original language name

Augmented Reality Spatial Programming Paradigm Applied to End-User Robot Programming

Original language description

The market of collaborative robots is thriving due to their increasing affordability. The ability to program a collaborative robot without requiring a highly skilled specialist would increase their spread even more. Visual programming is a prevalent contemporary approach for end-users on desktops or handheld devices, allowing them to define the program logic quickly and easily. However, separating the interface from the robot's task space makes defining spatial features difficult. At the same time, augmented reality can provide spatially situated interaction, which would solve the issue and allow end-users to intuitively program, adapt, and comprehend robotic programs that are inherently highly spatially linked to the real environment. Therefore, we have proposed Spatially Anchored Actions to address the problem of comprehension, programming, and adaptation of robotic programs by end-users, which is a form of visual programming in augmented reality. It uses semantic annotation of the environment and robot hand teaching to define spatially important points precisely. Individual program steps are created by attaching parametrizable, high-level actions to the points. Program flow is then defined by visually connecting individual actions. The interface is specifically designed for tablets, which provide a more immersive experience than phones and are more affordable and wellknown by users than head-mounted displays. The realized prototype of a handheld AR user interface was compared against a commercially available desktop-based visual programming solution in a user study with 12 participants. According to the results, the novel interface significantly improves comprehension of pick and place-like programs, improves spatial information settings, and is more preferred by users than the existing tool.

Czech name

—

Czech description

—

Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

—

OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

—

Continuities

R - Projekt Ramcoveho programu EK

Publication year

2024

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING

ISSN

0736-5845

e-ISSN

1879-2537

Volume of the periodical

89

Issue of the periodical within the volume

89

Country of publishing house

GB - UNITED KINGDOM

Number of pages

13

Pages from-to

1-13

UT code for WoS article

001229669000001

EID of the result in the Scopus database

2-s2.0-85190260946