publication . Preprint . 2017

Node Primitives: an open end-user programming platform for social robots

Coronado, Enrique; Mastrogiovanni, Fulvio; Venture, Gentiane;
Open Access English
  • Published: 25 Sep 2017
Abstract
With the expected adoption of robots able to seamlessly and intuitively interact with people in real-world scenarios, the need arises to provide non-technically-skilled users with easy-to-understand paradigms for customising robot behaviors. In this paper, we present an interaction design robot programming platform for enabling multidisciplinary social robot research and applications. This platform is referred to Node Primitives (NEP) and consists of two main parts. On the one hand, a ZeroMQ and Python-based distributed software framework has been developed to provide inter-process communication and robot behavior specification mechanisms. On the other hand, a w...
Subjects
free text keywords: Computer Science - Robotics, 68T40
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25 references, page 1 of 2

[1] G. Venture, R. Baddoura, Y. Kawashima, N. Kawashima, and T. Yabuki, “Personalizing intelligent systems and robots with human motion data,” in Robotics Research. Springer, 2016, pp. 305-318. [OpenAIRE]

[2] E. I. Barakova, J. C. Gillesen, B. E. Huskens, and T. Lourens, “Enduser programming architecture facilitates the uptake of robots in social therapies,” Robotics and Autonomous Systems, vol. 61, no. 7, pp. 704- 713, 2013.

[3] D. Glas, S. Satake, T. Kanda, and N. Hagita, “An interaction design framework for social robots,” in Robotics: Science and Systems, vol. 7, 2012, p. 89.

[4] J. Diprose, B. MacDonald, J. Hosking, and B. Plimmer, “Designing an api at an appropriate abstraction level for programming social robot applications,” Journal of Visual Languages & Computing, 2016.

[5] V. Berenz and K. Suzuki, “Targets-drives-means: A declarative approach to dynamic behavior specification with higher usability,” Robotics and Autonomous Systems, vol. 62, no. 4, pp. 545-555, 2014.

[6] F. Siepmann and S. Wachsmuth, “A modeling framework for reusable social behavior,” in De Silva, R., Reidsma, D., eds.: Work in Progress Workshop Proceedings ICSR, 2011, pp. 93-96.

[7] C.-M. Huang and B. Mutlu, “Robot behavior toolkit: generating effective social behaviors for robots,” in Proceedings of the seventh annual ACM/IEEE international conference on Human-Robot Interaction. ACM, 2012, pp. 25-32.

[8] E. Pot, J. Monceaux, R. Gelin, and B. Maisonnier, “Choregraphe: a graphical tool for humanoid robot programming,” in Robot and Human Interactive Communication, 2009. RO-MAN 2009. The 18th IEEE International Symposium on. IEEE, 2009, pp. 46-51. [OpenAIRE]

[9] T. Lourens and E. Barakova, “User-friendly robot environment for creation of social scenarios,” Foundations on Natural and Artificial Computation, pp. 212-221, 2011. [OpenAIRE]

[10] A. Sauppe´ and B. Mutlu, “Design patterns for exploring and prototyping human-robot interactions,” in Proceedings of the 32nd annual ACM conference on Human factors in computing systems. ACM, 2014, pp. 1439-1448. [OpenAIRE]

[11] T. R. G. Green and M. Petre, “Usability analysis of visual programming environments: a cognitive dimensions framework,” Journal of Visual Languages & Computing, vol. 7, no. 2, pp. 131-174, 1996.

[12] M. Ko¨lling and F. McKay, “Heuristic evaluation for novice programming systems,” ACM Transactions on Computing Education (TOCE), vol. 16, no. 3, p. 12, 2016.

[13] R. Bischoff, T. Guhl, E. Prassler, W. Nowak, G. Kraetzschmar, H. Bruyninckx, P. Soetens, M. Haegele, A. Pott, P. Breedveld et al., “Brics-best practice in robotics,” in Robotics (ISR), 2010 41st International Symposium on and 2010 6th German Conference on Robotics (ROBOTIK). VDE, 2010, pp. 1-8. [OpenAIRE]

[14] C. D. Wickens, J. G. Hollands, S. Banbury, and R. Parasuraman, Engineering psychology & human performance. Psychology Press, 2015.

[15] P. H. Kahn, N. G. Freier, T. Kanda, H. Ishiguro, J. H. Ruckert, R. L. Severson, and S. K. Kane, “Design patterns for sociality in humanrobot interaction,” in Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction. ACM, 2008, pp. 97-104.

25 references, page 1 of 2
Related research
Abstract
With the expected adoption of robots able to seamlessly and intuitively interact with people in real-world scenarios, the need arises to provide non-technically-skilled users with easy-to-understand paradigms for customising robot behaviors. In this paper, we present an interaction design robot programming platform for enabling multidisciplinary social robot research and applications. This platform is referred to Node Primitives (NEP) and consists of two main parts. On the one hand, a ZeroMQ and Python-based distributed software framework has been developed to provide inter-process communication and robot behavior specification mechanisms. On the other hand, a w...
Subjects
free text keywords: Computer Science - Robotics, 68T40
Download from
25 references, page 1 of 2

[1] G. Venture, R. Baddoura, Y. Kawashima, N. Kawashima, and T. Yabuki, “Personalizing intelligent systems and robots with human motion data,” in Robotics Research. Springer, 2016, pp. 305-318. [OpenAIRE]

[2] E. I. Barakova, J. C. Gillesen, B. E. Huskens, and T. Lourens, “Enduser programming architecture facilitates the uptake of robots in social therapies,” Robotics and Autonomous Systems, vol. 61, no. 7, pp. 704- 713, 2013.

[3] D. Glas, S. Satake, T. Kanda, and N. Hagita, “An interaction design framework for social robots,” in Robotics: Science and Systems, vol. 7, 2012, p. 89.

[4] J. Diprose, B. MacDonald, J. Hosking, and B. Plimmer, “Designing an api at an appropriate abstraction level for programming social robot applications,” Journal of Visual Languages & Computing, 2016.

[5] V. Berenz and K. Suzuki, “Targets-drives-means: A declarative approach to dynamic behavior specification with higher usability,” Robotics and Autonomous Systems, vol. 62, no. 4, pp. 545-555, 2014.

[6] F. Siepmann and S. Wachsmuth, “A modeling framework for reusable social behavior,” in De Silva, R., Reidsma, D., eds.: Work in Progress Workshop Proceedings ICSR, 2011, pp. 93-96.

[7] C.-M. Huang and B. Mutlu, “Robot behavior toolkit: generating effective social behaviors for robots,” in Proceedings of the seventh annual ACM/IEEE international conference on Human-Robot Interaction. ACM, 2012, pp. 25-32.

[8] E. Pot, J. Monceaux, R. Gelin, and B. Maisonnier, “Choregraphe: a graphical tool for humanoid robot programming,” in Robot and Human Interactive Communication, 2009. RO-MAN 2009. The 18th IEEE International Symposium on. IEEE, 2009, pp. 46-51. [OpenAIRE]

[9] T. Lourens and E. Barakova, “User-friendly robot environment for creation of social scenarios,” Foundations on Natural and Artificial Computation, pp. 212-221, 2011. [OpenAIRE]

[10] A. Sauppe´ and B. Mutlu, “Design patterns for exploring and prototyping human-robot interactions,” in Proceedings of the 32nd annual ACM conference on Human factors in computing systems. ACM, 2014, pp. 1439-1448. [OpenAIRE]

[11] T. R. G. Green and M. Petre, “Usability analysis of visual programming environments: a cognitive dimensions framework,” Journal of Visual Languages & Computing, vol. 7, no. 2, pp. 131-174, 1996.

[12] M. Ko¨lling and F. McKay, “Heuristic evaluation for novice programming systems,” ACM Transactions on Computing Education (TOCE), vol. 16, no. 3, p. 12, 2016.

[13] R. Bischoff, T. Guhl, E. Prassler, W. Nowak, G. Kraetzschmar, H. Bruyninckx, P. Soetens, M. Haegele, A. Pott, P. Breedveld et al., “Brics-best practice in robotics,” in Robotics (ISR), 2010 41st International Symposium on and 2010 6th German Conference on Robotics (ROBOTIK). VDE, 2010, pp. 1-8. [OpenAIRE]

[14] C. D. Wickens, J. G. Hollands, S. Banbury, and R. Parasuraman, Engineering psychology & human performance. Psychology Press, 2015.

[15] P. H. Kahn, N. G. Freier, T. Kanda, H. Ishiguro, J. H. Ruckert, R. L. Severson, and S. K. Kane, “Design patterns for sociality in humanrobot interaction,” in Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction. ACM, 2008, pp. 97-104.

25 references, page 1 of 2
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