iRoPro: An interactive Robot Programming Framework

TL;DR

iRoPro is an interactive framework enabling non-expert users to teach robots new reusable actions through demonstration and planning, making robot programming accessible and adaptable for diverse end-user tasks.

Contribution

The paper introduces iRoPro, a novel system combining demonstration and automated planning for end-user robot programming without requiring technical expertise.

Findings

Users with varied backgrounds can easily learn and use iRoPro.

The system successfully generalizes actions for unseen tasks.

User studies confirm high usability and acceptance.

Abstract

The great diversity of end-user tasks ranging from manufacturing environments to personal homes makes pre-programming robots for general purpose applications extremely challenging. In fact, teaching robots new actions from scratch that can be reused for previously unseen tasks remains a difficult challenge and is generally left up to robotics experts. In this work, we present iRoPro, an interactive Robot Programming framework that allows end-users with little to no technical background to teach a robot new reusable actions. We combine Programming by Demonstration and Automated Planning techniques to allow the user to construct the robot's knowledge base by teaching new actions by kinesthetic demonstration. The actions are generalised and reused with a task planner to solve previously unseen problems defined by the user. We implement iRoPro as an end-to-end system on a Baxter Research Robot to simultaneously teach low- and high-level actions by demonstration that the user can customise via a Graphical User Interface to adapt to their specific use case. To evaluate the feasibility of our approach, we first conducted pre-design experiments to better understand the user's adoption of involved concepts and the proposed robot programming process. We compare results with post-design experiments, where we conducted a user study to validate the usability of our approach with real end-users. Overall, we showed that users with different programming levels and educational backgrounds can easily learn and use iRoPro and its robot programming process.