一句话：提出并评估面向双臂机器人的积木式编程环境 Duplo，使非专业用户能处理需双臂协调的任务。
工业机器人编程困难且昂贵，现有面向更广用户的工作多局限于简单程序，实用性未经检验。本文提出 Duplo：一种积木式编程环境，让终端用户为双臂机器人编程并完成需要协调的任务。Duplo 将两条手臂的程序并排摆放，用积木间的空间关系表示并行，使非专业用户易于理解。作者开展 52 人随机实验，在含多个子任务的复杂任务上比较 Duplo 与商业方案 RobotStudio Online YuMi。结果表明 Duplo 组完成更快、成功率更高；分析还揭示了性能差异解释因素和剩余障碍，如调试问题和与机器人交互困难。该工作有助于让更广的非专业人群编程机器人。
Programming industrial robots is difficult and expensive. Although recent work has made substantial progress in making it accessible to a wider range of users, it is often limited to simple programs and its usability remains untested in practice. In this article, we introduce Duplo, a block-based programming environment that allows end-users to program two-armed robots and solve tasks that require coordination. Duplo positions the program for each arm side-by-side, using the spatial relationship between blocks from each program to represent parallelism in a way that end-users can easily understand. This design was proposed by previous work, but not implemented or evaluated in a realistic programming setting. We performed a randomized experiment with 52 participants that evaluated Duplo on a complex programming task that contained several sub-tasks. We compared Duplo with RobotStudio Online YuMi, a commercial solution, and found that Duplo allowed participants to solve the same task faster and with greater success. By analyzing the information collected during our user study, we further identified factors that explain this performance difference, as well as remaining barriers, such as debugging issues and difficulties in interacting with the robot. This work represents another step towards allowing a wider audience of non-professionals to program, which might enable the broader deployment of robotics.
@inproceedings{paperbot11352,
title = {Block-based Programming for Two-Armed Robots: A Comparative Study},
author = {Felipe Fronchetti and Nico Ritschel and Logan Schorr and Chandler Barfield and Gabriella Chang and Rodrigo Spinola and Reid Holmes and David C. Shepherd},
booktitle = {ICSE},
year = {2024},
doi = {10.1145/3597503.3623329}
}