A Comparison of Types of Robot Control for Programming by Demonstration

Publikation: Bidrag til bog/antologi/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

Resumé

Programming by Demonstration (PbD) is an efficient
way for non-experts to teach new skills to a robot. PbD can
be carried out in different ways, for instance, by kinesthetic guidance,
teleoperation or by using external controls. In this paper,
we compare these three ways of controlling a robot in terms of
efficiency, effectiveness (success and error rate) and usability. In
an industrial assembly scenario, 51 participants carried out pegin-
hole tasks using one of the three control modalities. The results
show that kinesthetic guidance produces the best results. In order
to test whether the problems during teleoperation are due to
the fact that users cannot, like in kinesthetic guidance, switch
between control points using traditional teleoperation devices, we
designed a new device that allows users to switch between controls
for large and small movements. A user study with 15 participants
shows that the novel teleoperation device yields almost as good
results as kinesthetic guidance.
OriginalsprogEngelsk
TitelProceedings of the 11th ACM/IEEE International Conference on Human-Robot Interaction
RedaktørerChristoph Bartneck, Yukie Nagai, Ana Paiva, Selma Šabanović
Udgivelses stedNew Jersey, USA
ForlagIEEE Press
Publikationsdato2016
Sider213-220
ISBN (Trykt)978-1-4673-8369-1
ISBN (Elektronisk)978-1-4673-8370-7
DOI
StatusUdgivet - 2016
Begivenhed11th ACM/IEEE International Conference on Human Robot Interaction - Christchurch, New Zealand
Varighed: 7. mar. 201610. mar. 2016

Konference

Konference11th ACM/IEEE International Conference on Human Robot Interaction
LandNew Zealand
ByChristchurch
Periode07/03/201610/03/2016

Fingeraftryk

Remote control
Demonstrations
Robots
Switches

Citer dette

Fischer, K., Kirstein, F., Jensen, L. C., Krüger, N., Kuklinski, K., aus der Wieschen, M. V., & Savarimuthu, T. R. (2016). A Comparison of Types of Robot Control for Programming by Demonstration. I C. Bartneck, Y. Nagai, A. Paiva, & S. Šabanović (red.), Proceedings of the 11th ACM/IEEE International Conference on Human-Robot Interaction (s. 213-220). New Jersey, USA: IEEE Press. https://doi.org/10.1109/HRI.2016.7451754
Fischer, Kerstin ; Kirstein, Franziska ; Jensen, Lars Christian ; Krüger, Norbert ; Kuklinski, Kamil ; aus der Wieschen, Maria Vanessa ; Savarimuthu, Thiusius Rajeeth. / A Comparison of Types of Robot Control for Programming by Demonstration. Proceedings of the 11th ACM/IEEE International Conference on Human-Robot Interaction. red. / Christoph Bartneck ; Yukie Nagai ; Ana Paiva ; Selma Šabanović. New Jersey, USA : IEEE Press, 2016. s. 213-220
@inproceedings{c16662b5a9f941e6805f4e13f33b835e,
title = "A Comparison of Types of Robot Control for Programming by Demonstration",
abstract = "Programming by Demonstration (PbD) is an efficientway for non-experts to teach new skills to a robot. PbD canbe carried out in different ways, for instance, by kinesthetic guidance,teleoperation or by using external controls. In this paper,we compare these three ways of controlling a robot in terms ofefficiency, effectiveness (success and error rate) and usability. Inan industrial assembly scenario, 51 participants carried out pegin-hole tasks using one of the three control modalities. The resultsshow that kinesthetic guidance produces the best results. In orderto test whether the problems during teleoperation are due tothe fact that users cannot, like in kinesthetic guidance, switchbetween control points using traditional teleoperation devices, wedesigned a new device that allows users to switch between controlsfor large and small movements. A user study with 15 participantsshows that the novel teleoperation device yields almost as goodresults as kinesthetic guidance.",
keywords = "teleoperation, kinesthetic guidance, learning from demonstration, interface design, Kinesthetic guidance, Teleoperation, Interface design, Learning from demonstration",
author = "Kerstin Fischer and Franziska Kirstein and Jensen, {Lars Christian} and Norbert Kr{\"u}ger and Kamil Kuklinski and {aus der Wieschen}, {Maria Vanessa} and Savarimuthu, {Thiusius Rajeeth}",
year = "2016",
doi = "10.1109/HRI.2016.7451754",
language = "English",
isbn = "978-1-4673-8369-1",
pages = "213--220",
editor = "Bartneck, {Christoph } and Nagai, {Yukie } and Paiva, {Ana } and Šabanović, {Selma }",
booktitle = "Proceedings of the 11th ACM/IEEE International Conference on Human-Robot Interaction",
publisher = "IEEE Press",

}

Fischer, K, Kirstein, F, Jensen, LC, Krüger, N, Kuklinski, K, aus der Wieschen, MV & Savarimuthu, TR 2016, A Comparison of Types of Robot Control for Programming by Demonstration. i C Bartneck, Y Nagai, A Paiva & S Šabanović (red), Proceedings of the 11th ACM/IEEE International Conference on Human-Robot Interaction. IEEE Press, New Jersey, USA, s. 213-220, 11th ACM/IEEE International Conference on Human Robot Interaction, Christchurch, New Zealand, 07/03/2016. https://doi.org/10.1109/HRI.2016.7451754

A Comparison of Types of Robot Control for Programming by Demonstration. / Fischer, Kerstin; Kirstein, Franziska; Jensen, Lars Christian; Krüger, Norbert; Kuklinski, Kamil; aus der Wieschen, Maria Vanessa; Savarimuthu, Thiusius Rajeeth.

Proceedings of the 11th ACM/IEEE International Conference on Human-Robot Interaction. red. / Christoph Bartneck; Yukie Nagai; Ana Paiva; Selma Šabanović. New Jersey, USA : IEEE Press, 2016. s. 213-220.

Publikation: Bidrag til bog/antologi/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

TY - GEN

T1 - A Comparison of Types of Robot Control for Programming by Demonstration

AU - Fischer, Kerstin

AU - Kirstein, Franziska

AU - Jensen, Lars Christian

AU - Krüger, Norbert

AU - Kuklinski, Kamil

AU - aus der Wieschen, Maria Vanessa

AU - Savarimuthu, Thiusius Rajeeth

PY - 2016

Y1 - 2016

N2 - Programming by Demonstration (PbD) is an efficientway for non-experts to teach new skills to a robot. PbD canbe carried out in different ways, for instance, by kinesthetic guidance,teleoperation or by using external controls. In this paper,we compare these three ways of controlling a robot in terms ofefficiency, effectiveness (success and error rate) and usability. Inan industrial assembly scenario, 51 participants carried out pegin-hole tasks using one of the three control modalities. The resultsshow that kinesthetic guidance produces the best results. In orderto test whether the problems during teleoperation are due tothe fact that users cannot, like in kinesthetic guidance, switchbetween control points using traditional teleoperation devices, wedesigned a new device that allows users to switch between controlsfor large and small movements. A user study with 15 participantsshows that the novel teleoperation device yields almost as goodresults as kinesthetic guidance.

AB - Programming by Demonstration (PbD) is an efficientway for non-experts to teach new skills to a robot. PbD canbe carried out in different ways, for instance, by kinesthetic guidance,teleoperation or by using external controls. In this paper,we compare these three ways of controlling a robot in terms ofefficiency, effectiveness (success and error rate) and usability. Inan industrial assembly scenario, 51 participants carried out pegin-hole tasks using one of the three control modalities. The resultsshow that kinesthetic guidance produces the best results. In orderto test whether the problems during teleoperation are due tothe fact that users cannot, like in kinesthetic guidance, switchbetween control points using traditional teleoperation devices, wedesigned a new device that allows users to switch between controlsfor large and small movements. A user study with 15 participantsshows that the novel teleoperation device yields almost as goodresults as kinesthetic guidance.

KW - teleoperation

KW - kinesthetic guidance

KW - learning from demonstration

KW - interface design

KW - Kinesthetic guidance

KW - Teleoperation

KW - Interface design

KW - Learning from demonstration

U2 - 10.1109/HRI.2016.7451754

DO - 10.1109/HRI.2016.7451754

M3 - Article in proceedings

SN - 978-1-4673-8369-1

SP - 213

EP - 220

BT - Proceedings of the 11th ACM/IEEE International Conference on Human-Robot Interaction

A2 - Bartneck, Christoph

A2 - Nagai, Yukie

A2 - Paiva, Ana

A2 - Šabanović, Selma

PB - IEEE Press

CY - New Jersey, USA

ER -

Fischer K, Kirstein F, Jensen LC, Krüger N, Kuklinski K, aus der Wieschen MV et al. A Comparison of Types of Robot Control for Programming by Demonstration. I Bartneck C, Nagai Y, Paiva A, Šabanović S, red., Proceedings of the 11th ACM/IEEE International Conference on Human-Robot Interaction. New Jersey, USA: IEEE Press. 2016. s. 213-220 https://doi.org/10.1109/HRI.2016.7451754