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RAZER -- A Human-Robot Interface for Visual Task-Level Programming and Intuitive Skill Parametrization

Steinmetz, Franz and Wollschläger, Annika and Weitschat, Roman (2018) RAZER -- A Human-Robot Interface for Visual Task-Level Programming and Intuitive Skill Parametrization. IEEE Robotics and Automation Letters, 3 (3), pp. 1362-1369. IEEE - Institute of Electrical and Electronics Engineers. DOI: 10.1109/LRA.2018.2798300 ISSN 2377-3766

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Official URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=8269311

Abstract

Maintaining competitiveness and mitigating health issues test caused by unergonomic working conditions are two main reasons for automating production processes. But such automation is expensive, also because test experts are required to program the robots. One approach to lowering these costs is to enable shop-floor workers to program robots by providing task-level programming tools. Task-level programming is an established approach, yet appropriate workflows for experts and shop-floor workers remain to be defined. The objective of this letter is to evaluate RAZER, a framework for robot task-level programming, in which skill programming and parameter interface definitions are integrated. The framework provides workflows for both experts -- creating skills and providing their parameter interfaces -- and for shop-floor workers -- using these skills to create executable robot tasks in an intuitive human-robot interface (HRI). The HRI is a graphical user interface that runs in a browser, and provides access to other man-machine interface, such as programming by demonstration. Two pilot and two user studies proof that RAZER fulfills the demands of both experts and novice users.

Item URL in elib:https://elib.dlr.de/119124/
Document Type:Article
Title:RAZER -- A Human-Robot Interface for Visual Task-Level Programming and Intuitive Skill Parametrization
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Steinmetz, FranzFranz.Steinmetz (at) dlr.dehttps://orcid.org/0000-0002-1481-9215
Wollschläger, AnnikaAnnika.Wollschlaeger (at) dlr.dehttps://orcid.org/0000-0002-1358-9315
Weitschat, RomanRoman.Weitschat (at) dlr.dehttps://orcid.org/0000-0002-3871-5306
Date:July 2018
Journal or Publication Title:IEEE Robotics and Automation Letters
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Volume:3
DOI :10.1109/LRA.2018.2798300
Page Range:pp. 1362-1369
Editors:
EditorsEmail
Kanehiro, F.UNSPECIFIED
Asfour, Tamimasfour@kit.edu
Publisher:IEEE - Institute of Electrical and Electronics Engineers
ISSN:2377-3766
Status:Published
Keywords:intuitive programming, middleware, human-centered automation, intelligent and flexible manufacturing, factory automation, human factors, human-in-the-loop, Graphical user interfaces, Robot programming
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Intuitive Mensch-Roboter Schnittstelle
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Steinmetz, Franz
Deposited On:01 Mar 2018 14:07
Last Modified:31 Jul 2019 20:16

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