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Design and Evaluation of a Rapid Programming System for Service Robots

Authors:

Maya CakmakAuthors Info & Claims

HRI '16: The Eleventh ACM/IEEE International Conference on Human Robot Interaction

Pages 295 - 302

Published: 07 March 2016 Publication History

Abstract

This paper introduces CustomPrograms, a rapid programming system for mobile service robots. With CustomPrograms, roboticists can quickly create new behaviors and try unexplored use cases for commercialization. In our system, the robot has a set of primitive capabilities, such as navigating to a location or interacting with users on a touch screen. Users can then compose these primitives with general-purpose programming language constructs like variables, loops, conditionals, and functions. The programming language is wrapped in a graphical interface. This allows inexperienced or novice programmers to benefit from the system as well.

We describe the design and implementation of CustomPrograms on a Savioke Relay robot in detail. Based on interviews conducted with Savioke roboticists, designers, and business people, we learned of several potential new use cases for the robot. We characterize our system's ability to fulfill these use cases. Additionally, we conducted a user study of the interface with Savioke employees and outside programmers. We found that experienced programmers could learn to use the interface and create 3 real-world programs during the 90 minute study. Inexperienced programmers were less likely to create complex programs correctly. We provide an analysis of the errors made during the study, and highlight the most common pieces of feedback we received. Two case studies show how the system was used internally at Savioke and at a major trade show.

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Cited By

Schneiders ECheon EKjeldskov JRehm MSkov M(2022)Non-Dyadic Interaction: A Literature Review of 15 Years of Human-Robot Interaction Conference PublicationsACM Transactions on Human-Robot Interaction10.1145/348824211:2(1-32)Online publication date: 8-Feb-2022
https://dl.acm.org/doi/10.1145/3488242
Ajaykumar GSteele MHuang C(2021)A Survey on End-User Robot ProgrammingACM Computing Surveys10.1145/346681954:8(1-36)Online publication date: 4-Oct-2021
https://dl.acm.org/doi/10.1145/3466819
Racca MKyrki VCakmak MBelpaeme TYoung JGunes HRiek L(2020)Interactive Tuning of Robot Program Parameters via Expected Divergence MaximizationProceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction10.1145/3319502.3374784(629-638)Online publication date: 9-Mar-2020
https://dl.acm.org/doi/10.1145/3319502.3374784
Show More Cited By

Index Terms

Design and Evaluation of a Rapid Programming System for Service Robots

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Information & Contributors

Information

Published In

cover image ACM Conferences

HRI '16: The Eleventh ACM/IEEE International Conference on Human Robot Interaction

March 2016

676 pages

ISBN:9781467383707

General Chairs:
Christoph Bartneck
University of Canterbury, New Zealand
,
Yukie Nagai
Osaka University, Japan
,
Program Chairs:
Ana Paiva
Technical University of Lisbon, Portugal
,
Selma Šabanović
Indiana University Bloomington, USA

Sponsors

SIGAI: ACM Special Interest Group on Artificial Intelligence
RA: IEEE Robotics and Automation Society
SIGCHI: ACM Special Interest Group on Computer-Human Interaction

In-Cooperation

AAAI: American Association for Artificial Intelligence
Human Factors & Ergonomics Soc: Human Factors & Ergonomics Soc

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IEEE Press

Publication History

Published: 07 March 2016

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HRI '16

Sponsor:

HRI '16: ACM/IEEE International Conference on Human-Robot Interaction

March 7 - 10, 2016

Christchurch, New Zealand

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HRI '16 Paper Acceptance Rate 45 of 181 submissions, 25%;

Overall Acceptance Rate 268 of 1,124 submissions, 24%

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Cited By

Schneiders ECheon EKjeldskov JRehm MSkov M(2022)Non-Dyadic Interaction: A Literature Review of 15 Years of Human-Robot Interaction Conference PublicationsACM Transactions on Human-Robot Interaction10.1145/348824211:2(1-32)Online publication date: 8-Feb-2022
https://dl.acm.org/doi/10.1145/3488242
Ajaykumar GSteele MHuang C(2021)A Survey on End-User Robot ProgrammingACM Computing Surveys10.1145/346681954:8(1-36)Online publication date: 4-Oct-2021
https://dl.acm.org/doi/10.1145/3466819
Racca MKyrki VCakmak MBelpaeme TYoung JGunes HRiek L(2020)Interactive Tuning of Robot Program Parameters via Expected Divergence MaximizationProceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction10.1145/3319502.3374784(629-638)Online publication date: 9-Mar-2020
https://dl.acm.org/doi/10.1145/3319502.3374784
Huang GRao PWu MQian XNof SRamani KQuinn ABernhaupt RMueller FVerweij DAndres JMcGrenere JCockburn AAvellino IGoguey ABjørn PZhao SSamson BKocielnik R(2020)VipoProceedings of the 2020 CHI Conference on Human Factors in Computing Systems10.1145/3313831.3376670(1-13)Online publication date: 21-Apr-2020
https://dl.acm.org/doi/10.1145/3313831.3376670
Porfirio DSauppé AAlbarghouthi AMutlu BKim JTapus ASirkin DJung MKwak S(2019)Computational tools for human-robot interaction designProceedings of the 14th ACM/IEEE International Conference on Human-Robot Interaction10.5555/3378680.3378873(733-735)Online publication date: 11-Mar-2019
https://dl.acm.org/doi/10.5555/3378680.3378873
Tamosiunaite MAein MBraun JKulvicius TMarkievicz IKapociute-Dzikiene JValteryte RHaidu AChrysostomou DRidge BKrilavicius TVitkute-Adzgauskiene DBeetz MMadsen OUde AKrüger NWörgötter F(2019)Cut & recombineInternational Journal of Robotics Research10.1177/027836491986559438:10-11(1179-1207)Online publication date: 1-Sep-2019
https://dl.acm.org/doi/10.1177/0278364919865594
Eckhardt KSchiering IGabel AErtas FMüller S(2019)Visual Programming for Assistive Technologies in Rehabilitation and Social Inclusion of People with Intellectual DisabilitiesProceedings of Mensch und Computer 201910.1145/3340764.3344899(731-735)Online publication date: 8-Sep-2019
https://dl.acm.org/doi/10.1145/3340764.3344899
Seraj MGroße CAutexier SDrechsler RFails J(2019)Smart Homes ProgrammingProceedings of the 18th ACM International Conference on Interaction Design and Children10.1145/3311927.3323157(146-152)Online publication date: 12-Jun-2019
https://dl.acm.org/doi/10.1145/3311927.3323157
Seraj MGroße CAutexier SDrechsler RBeecham SDamian D(2019)Look what I can doProceedings of the 41st International Conference on Software Engineering: Software Engineering Education and Training10.1109/ICSE-SEET.2019.00029(197-207)Online publication date: 27-May-2019
https://dl.acm.org/doi/10.1109/ICSE-SEET.2019.00029
Sefidgar YWeng THarvey HElliott SCakmak M(2018)RobotISTProceedings of the 2018 ACM Symposium on Spatial User Interaction10.1145/3267782.3267921(141-149)Online publication date: 13-Oct-2018
https://dl.acm.org/doi/10.1145/3267782.3267921
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