Motion Comparator: Visual Comparison of Robot Motions

TL;DR

Motion Comparator is a web-based visualization tool that enables roboticists to effectively compare, analyze, and communicate robot motions through multi-view coordination, quaternion visualization, and time warping features.

Contribution

The paper introduces Motion Comparator, a novel visualization tool designed specifically for robot motion comparison, addressing limitations of existing tools and guided by a rigorous design framework.

Findings

Facilitates better understanding of robot motions through multi-view coordination.

Supports troubleshooting and parameter tuning with advanced visualization features.

Proven effective through four practical case studies.

Abstract

Roboticists compare robot motions for tasks such as parameter tuning, troubleshooting, and deciding between possible motions. However, most existing visualization tools are designed for individual motions and lack the features necessary to facilitate robot motion comparison. In this paper, we utilize a rigorous design framework to develop Motion Comparator, a web-based tool that facilitates the comprehension, comparison, and communication of robot motions. Our design process identified roboticists' needs, articulated design challenges, and provided corresponding strategies. Motion Comparator includes several key features such as multi-view coordination, quaternion visualization, time warping, and comparative designs. To demonstrate the applications of Motion Comparator, we discuss four case studies in which our tool is used for motion selection, troubleshooting, parameter tuning, and motion review.