A Comparison of Types of Robot Control for Programming by Demonstration

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

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.
Original languageEnglish
Title of host publicationProceedings of the 11th ACM/IEEE International Conference on Human-Robot Interaction
EditorsChristoph Bartneck, Yukie Nagai, Ana Paiva, Selma Šabanović
Place of PublicationNew Jersey, USA
PublisherIEEE Press
Publication date2016
Pages213-220
ISBN (Print)978-1-4673-8369-1
ISBN (Electronic)978-1-4673-8370-7
DOIs
Publication statusPublished - 2016
Event11th ACM/IEEE International Conference on Human Robot Interaction - Christchurch, New Zealand
Duration: 7. Mar 201610. Mar 2016

Conference

Conference11th ACM/IEEE International Conference on Human Robot Interaction
CountryNew Zealand
CityChristchurch
Period07/03/201610/03/2016

Fingerprint

Remote control
Demonstrations
Robots
Switches

Keywords

  • teleoperation
  • kinesthetic guidance
  • learning from demonstration
  • interface design

Cite this

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. In C. Bartneck, Y. Nagai, A. Paiva, & S. Šabanović (Eds.), Proceedings of the 11th ACM/IEEE International Conference on Human-Robot Interaction (pp. 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. editor / Christoph Bartneck ; Yukie Nagai ; Ana Paiva ; Selma Šabanović. New Jersey, USA : IEEE Press, 2016. pp. 213-220
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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.",
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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}",
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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. in C Bartneck, Y Nagai, A Paiva & S Šabanović (eds), Proceedings of the 11th ACM/IEEE International Conference on Human-Robot Interaction. IEEE Press, New Jersey, USA, pp. 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. ed. / Christoph Bartneck; Yukie Nagai; Ana Paiva; Selma Šabanović. New Jersey, USA : IEEE Press, 2016. p. 213-220.

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

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AU - aus der Wieschen, Maria Vanessa

AU - Savarimuthu, Thiusius Rajeeth

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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.

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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. In Bartneck C, Nagai Y, Paiva A, Šabanović S, editors, Proceedings of the 11th ACM/IEEE International Conference on Human-Robot Interaction. New Jersey, USA: IEEE Press. 2016. p. 213-220 https://doi.org/10.1109/HRI.2016.7451754