Characterizing Input Methods for Human-to-robot Demonstrations
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2019
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| _version_ | 1866917698934407168 |
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| author | Praveena, Pragathi Subramani, Guru Mutlu, Bilge Gleicher, Michael |
| author_facet | Praveena, Pragathi Subramani, Guru Mutlu, Bilge Gleicher, Michael |
| contents | Human demonstrations are important in a range of robotics applications, and are created with a variety of input methods. However, the design space for these input methods has not been extensively studied. In this paper, focusing on demonstrations of hand-scale object manipulation tasks to robot arms with two-finger grippers, we identify distinct usage paradigms in robotics that utilize human-to-robot demonstrations, extract abstract features that form a design space for input methods, and characterize existing input methods as well as a novel input method that we introduce, the instrumented tongs. We detail the design specifications for our method and present a user study that compares it against three common input methods: free-hand manipulation, kinesthetic guidance, and teleoperation. Study results show that instrumented tongs provide high quality demonstrations and a positive experience for the demonstrator while offering good correspondence to the target robot. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_1902_00084 |
| institution | arXiv |
| publishDate | 2019 |
| record_format | arxiv |
| spellingShingle | Characterizing Input Methods for Human-to-robot Demonstrations Praveena, Pragathi Subramani, Guru Mutlu, Bilge Gleicher, Michael Robotics Human demonstrations are important in a range of robotics applications, and are created with a variety of input methods. However, the design space for these input methods has not been extensively studied. In this paper, focusing on demonstrations of hand-scale object manipulation tasks to robot arms with two-finger grippers, we identify distinct usage paradigms in robotics that utilize human-to-robot demonstrations, extract abstract features that form a design space for input methods, and characterize existing input methods as well as a novel input method that we introduce, the instrumented tongs. We detail the design specifications for our method and present a user study that compares it against three common input methods: free-hand manipulation, kinesthetic guidance, and teleoperation. Study results show that instrumented tongs provide high quality demonstrations and a positive experience for the demonstrator while offering good correspondence to the target robot. |
| title | Characterizing Input Methods for Human-to-robot Demonstrations |
| topic | Robotics |
| url | https://arxiv.org/abs/1902.00084 |