Publication Details

Augmented Reality Spatial Programming Paradigm Applied to End-User Robot Programming

KAPINUS, M.; BERAN, V.; MATERNA, Z.; BAMBUŠEK, D. Augmented Reality Spatial Programming Paradigm Applied to End-User Robot Programming. ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2024, vol. 89, no. 89, p. 1-13. ISSN: 0736-5845.
Czech title
Paradigma prostorového programování v rozšířené realitě aplikované na programování robotů koncovými uživateli
Type
journal article
Language
English
Authors
Kapinus Michal, Ing., Ph.D. (DCGM)
Beran Vítězslav, doc. Ing., Ph.D. (DCGM)
Materna Zdeněk, Ing., Ph.D. (DCGM)
Bambušek Daniel, Ing. (DCGM)
Keywords

Robot programming, 
Augmented reality, 
SME future

Abstract

The market of collaborative robots is thriving due to their increasing
affordability. The ability to program a collaborative robot without requiring
a highly skilled specialist would increase their spread even more. Visual
programming is a prevalent contemporary approach for end-users on desktops or
handheld devices, allowing them to define the program logic quickly and easily.
However, separating the interface from the robot's task space makes defining
spatial features difficult. At the same time, augmented reality can provide
spatially situated interaction, which would solve the issue and allow end-users
to intuitively program, adapt, and comprehend robotic programs that are
inherently highly spatially linked to the real environment. Therefore, we have
proposed Spatially Anchored Actions to address the problem of comprehension,
programming, and adaptation of robotic programs by end-users, which is a form of
visual programming in augmented reality. It uses semantic annotation of the
environment and robot hand teaching to define spatially important points
precisely. Individual program steps are created by attaching parametrizable,
high-level actions to the points. Program flow is then defined by visually
connecting individual actions. The interface is specifically designed for
tablets, which provide a more immersive experience than phones and are more
affordable and wellknown by users than head-mounted displays. The realized
prototype of a handheld AR user interface was compared against a commercially
available desktop-based visual programming solution in a user study with 12
participants. According to the results, the novel interface significantly
improves comprehension of pick and place-like programs, improves spatial
information settings, and is more preferred by users than the existing tool.

Published
2024
Pages
13
Journal
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, vol. 89, no. 89, ISSN 0736-5845
DOI
10.1016/j.rcim.2024.102770
BibTeX 
@article{BUT188408,
  author="Michal {Kapinus} and Vítězslav {Beran} and Zdeněk {Materna} and Daniel {Bambušek}",
  title="Augmented Reality Spatial Programming Paradigm Applied to End-User Robot Programming",
  journal="ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING",
  year="2024",
  volume="89",
  number="89",
  pages="13",
  doi="10.1016/j.rcim.2024.102770",
  issn="0736-5845",
  url="https://www.fit.vut.cz/research/publication/12818/"
}
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