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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.
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 language | English |
|---|---|
| Title of host publication | Proceedings of the 11th ACM/IEEE International Conference on Human-Robot Interaction |
| Editors | Christoph Bartneck, Yukie Nagai, Ana Paiva, Selma Šabanović |
| Place of Publication | New Jersey, USA |
| Publisher | IEEE Press |
| Publication date | 2016 |
| Pages | 213-220 |
| ISBN (Print) | 978-1-4673-8369-1 |
| ISBN (Electronic) | 978-1-4673-8370-7 |
| DOIs | |
| Publication status | Published - 2016 |
| Event | 11th ACM/IEEE International Conference on Human Robot Interaction - Christchurch, New Zealand Duration: 7. Mar 2016 → 10. Mar 2016 |
Conference
| Conference | 11th ACM/IEEE International Conference on Human Robot Interaction |
|---|---|
| Country/Territory | New Zealand |
| City | Christchurch |
| Period | 07/03/2016 → 10/03/2016 |
Keywords
- teleoperation
- kinesthetic guidance
- learning from demonstration
- interface design
- Kinesthetic guidance
- Teleoperation
- Interface design
- Learning from demonstration
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Human-Robot Interaction Lab Sønderborg
Lars Christian Jensen (Participant)
1. Oct 2014 → 2020Activity: Other activities › Other
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Human-Robot Interaction Lab Sønderborg (External organisation)
Lars Christian Jensen (Member)
2014 → 2020Activity: Membership › Board duties in companies, associations, or public organisations