Publikationsdatenbank
Publication
Input and Editing of Force Profiles of In-Contact Robot Motions via a Touch Graphical User InterfaceJohannes Hartwig , Dominik Henrich , Pascal Ruppert
Abstract (english)
Various automation tasks require the precise specification of forces/torques over time and space to be applied to the environment. Traditionally, only experts can provide such specifications, contrasting the need for intuitive robot programming in small and medium-sized enterprises. This paper presents a concept for extending kinesthetic robot programming to allow users to program motions in contact with the environment. In this context, four novel input methods enable non-experts to input and edit force/torque profiles graphically via a touch device as a function graph. A user study compares the input methods regarding duration, accuracy, and workload. In addition, the system's intuitiveness and usability for programming in-contact motions are evaluated. Even for a small sample set (N = 20), the evaluation of the System Usability Scale (SUS) showed a high median result (82.5). Thus, the promising results indicate that the presented programming system is usable and intuitive for non-experts.
Publication data
| Year: | 2023 |
| Publication date: | 12. December 2023 |
| Source: | 2023 Seventh IEEE International Conference on Robotic Computing (IRC) |
| Referrer: | https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=hartwig2023b |
| Free text: | https://doi.org/10.1109/IRC59093.2023.00038 |
BibTeX
@ARTICLE{hartwig2023b,
TITLE = "Input and Editing of Force Profiles of In-Contact Robot Motions via a Touch Graphical User Interface",
AUTHOR = "Hartwig, Johannes and Henrich, Dominik and Ruppert, Pascal",
YEAR = "2023",
JOURNAL = "2023 Seventh IEEE International Conference on Robotic Computing (IRC)",
HOWPUBLISHED = "\url{https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=hartwig2023b}",
NOTE = "https://doi.org/10.1109/IRC59093.2023.00038",
}