A Comparison of Types of Robot Control for Programming by Demonstration

Kerstin Fischer, Franziska Kirstein, Lars Christian Jensen, Norbert Krüger, Kamil Kuklinski, Maria Vanessa aus der Wieschen, Thiusius Rajeeth Savarimuthu

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


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
ISBN (Print)978-1-4673-8369-1
ISBN (Electronic)978-1-4673-8370-7
Publication statusPublished - 2016
Event11th ACM/IEEE International Conference on Human Robot Interaction - Christchurch, New Zealand
Duration: 7. Mar 201610. Mar 2016


Conference11th ACM/IEEE International Conference on Human Robot Interaction
Country/TerritoryNew Zealand


  • teleoperation
  • kinesthetic guidance
  • learning from demonstration
  • interface design
  • Kinesthetic guidance
  • Teleoperation
  • Interface design
  • Learning from demonstration


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