Hostname: page-component-74656f9884-rdgjk Total loading time: 0 Render date: 2026-11-07T02:50:04.890Z Has data issue: false hasContentIssue false
  • English
  • Français

A Visual Programming Approach for Co-designed Robots

Published online by Cambridge University Press:  23 September 2020

Andrés S. Vázquez Open the ORCID record for Andrés S. Vázquez [Opens in a new window] ,
Tomás Calvo ,
Raúl Fernández  and
Francisco Ramos
Andrés S. Vázquez*
Affiliation:
School of Industrial Engineering, University of Castilla-La Mancha, Avda. Camilo José Cela, s/n, 13071 Ciudad Real, Spain. E-mails: andress.vazquez@uclm.es, raul.fernandez@uclm.es, francisco.ramos@uclm.es
Tomás Calvo
Affiliation:
Mundo Reader S.L. (BQ), Calle Dublín 1, 28232 Las Rozas, Madrid, Spain. E-mail: tomas.calvo@bq.com
Raúl Fernández
Affiliation:
School of Industrial Engineering, University of Castilla-La Mancha, Avda. Camilo José Cela, s/n, 13071 Ciudad Real, Spain. E-mails: andress.vazquez@uclm.es, raul.fernandez@uclm.es, francisco.ramos@uclm.es
Francisco Ramos
Affiliation:
School of Industrial Engineering, University of Castilla-La Mancha, Avda. Camilo José Cela, s/n, 13071 Ciudad Real, Spain. E-mails: andress.vazquez@uclm.es, raul.fernandez@uclm.es, francisco.ramos@uclm.es
*
*Corresponding author. E-mail: andress.vazquez@uclm.es
Rights & Permissions [Opens in a new window]

Summary

Core share and HTML view are not available for this content. However, as you have access to this content, a full PDF is available via the 'Save PDF' action button.

This paper proposes an approach for the high-level programming of co-designed robots that reduces programming complexity. Particularly, the work presented focuses on the programming framework of an intelligent system, based on the IEEE Standard Ontologies for Robotics and Automation, which allows users the automatic design of robots and the automatic implementation of controllers in the Robot Operating System (ROS). In our approach, the co-designed robot functionalities are automatically translated into visual programming blocks allowing non-expert users an easy robot programming by means of a visual programming language. Several robot configurations and three case studies are provided as a proof of concept. The validation, in terms of usability, of the framework has been carried out with inexperienced users showing promising results.

Keywords

Co-designVisual programmingRobotic ontologiesModular robotsSoftware usability

Information

Type
Article
Information
Robotica , Volume 39 , Issue 6 , June 2021 , pp. 1116 - 1139
Copyright
© The Author(s), 2020. Published by Cambridge University Press

References

Edwards, S. and Lewis, C., “Ros-Industrial: Applying the Robot Operating System (ROS) to Industrial Applications,” In: IEEE International Conference on Robotics and Automation, ECHORD Workshop (2012).Google Scholar
Benitti, F. B. V and Spolaôr, N., “How Have Robots Supported STEM Teaching?” In: Robotics in STEM Education (Springer International Publishing, 2017) pp. 103–129.CrossRefGoogle Scholar
Martin, F. and Resnick, M., “Lego/Logo and Electronic Bricks: Creating a Scienceland for Children,” In Advanced Educational Technologies for Mathematics and Science (Springer, 1993) pp. 61–89.Google Scholar
Schweikardt, E. and Gross, M. D., “Learning About Complexity with Modular Robots,” In: Proceedings of the 2008 Second IEEE International Conference on Digital Game and Intelligent Toy Enhanced Learning, DIGITEL 2008 (IEEE Computer Society, Washington, DC, USA, 2008) pp. 116–123.CrossRefGoogle Scholar
Ramos, F., Olivares-Alarcos, A., Vázquez, A. S. and Fernández, R., “What Can Ontologies Do for Robot Design?” In: ROBOT 2017: Third Iberian Robotics Conference (Springer International Publishing, 2018) pp. 465–476.CrossRefGoogle Scholar
Ramos, F., Vázquez, A. S., Fernández, R. and Olivares-Alarcos, A., “Ontology based design, control and programming of modular robots,” Integr. Comput.-Aid. Eng. 25(2), 173–192 (2018).CrossRefGoogle Scholar
Lees, D. S. and Leifer, L. J., “A Graphical Programming Language for Robots Operating in Lightly Structured Environments,” Proceedings of 1993 IEEE International Conference on Robotics and Automation (IEEE, 1993) pp. 648–653.Google Scholar
Microsoft Robotics Developer, Studio, https://www.microsoft.com/en-us/download/details.aspx?id=29081. Accessed July 17, 2018.Google Scholar
Alexandrova, S., Tatlock, Z. and Cakmak, M., “Roboflow: A Flow-Based Visual Programming Language for Mobile Manipulation Tasks,” In: IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, WA, USA, 26-30 May, 2015, (2015) pp. 5537–5544.Google Scholar
Intera, Software, https://www.rethinkrobotics.com/intera. Accessed July 17, 2018.Google Scholar
KUKAprc, http://www.robotsinarchitecture.org/kuka-prc. Accessed July 17, 2018.Google Scholar
Sharif, S., Agrawal, V. and Sweet, L., “Adaptive Industrial Robot Control for Designers,” In: Proceedings of the 35th International Conference on Education and Research in Computer Aided Architectural Design in Europe (September 2017) pp. 151–158.Google Scholar
Robotstudio, https://new.abb.com/products/robotics/robotstudio. Accessed November 11, 2018.Google Scholar
Staubli Robotic Suite, https://www.staubli.com/en-us/robotics/product-range/robot-software/pc-robot-programming-srs/. Accessed November 11, 2018.Google Scholar
Labview Robotics Toolbox. http://www.ni.com/es-es/shop/labview.html. Accessed July 17, 2018.Google Scholar
MATLAB Simulink, https://es.mathworks.com/solutions/robotics.html. Accessed July 17, 2018.Google Scholar
Choregraphe, Suite, http://doc.aldebaran.com/1-14/software/choregraphe/choregraphe_overview.html. Accessed February 02, 2019.Google Scholar
Moreno-León, J. and Robles, G., “Code to Learn with Scratch? A Systematic Literature Review,” In: 2016 IEEE Global Engineering Education Conference, EDUCON 2016, Abu Dhabi, United Arab Emirates, April 10–13, 2016 (2016) pp. 150–156.Google Scholar
Scratch, Get Started with Coding, https://scratch.mit.edu/. Accessed July 17, 2018.Google Scholar
Kim, S. H. and Jeon, J. W., “Programming LEGO Mindstorms NXT with Visual Programming,” In: 2007 IEEE International Conference on Control, Automation and Systems, ICCAS 2007, (2007) pp. 2468–2472.Google Scholar
Software ev3, https://www.lego.com/es-es/mindstorms/downloads/download-software. Accessed July 17, 2018.Google Scholar
Aseba Studio, VPL, https://www.thymio.org/. Accessed July 17, 2018.Google Scholar
Builder Roboscratch, EZ, https://www.ez-robot.com/EZ-Builder/. Acessed July 17, 2018.Google Scholar
RobotC http://www.robotc.net/graphical/. Accessed July 17, 2018.Google Scholar
ModKit, http://www.modkit.com/. Accessed July 17, 2018.Google Scholar
CodeZ, http://gocoderz.com/. Accessed July 17, 2018.Google Scholar
NEPO (Open Roberta), https://lab.open-roberta.org/. Accessed July 17, 2018.Google Scholar
Bloxter, https://www.dexterindustries.com/introducing-bloxter-the-graphical-programming-language-for-learning-coding-with-robots/. Accessed February 02, 2019.Google Scholar
Cubelets, Blockly, https://www.modrobotics.com/cubelets/apps/cubelets-blockly/. Accessed February 02, 2019.Google Scholar
Moss, Scratch, https://www.modrobotics.com/moss/apps/moss-scratch/. Accessed February 02, 2019.Google Scholar
Root, Robotics, https://rootrobotics.com/. Accessed February 02, 2019.Google Scholar
Narayanamoorthy, A., Li, R. and Huang, Z., “Creating ROS Launch Files Using a Visual Programming Interface,” In: 2015 IEEE 7th International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM) (IEEE, 2015) pp. 142–146.Google Scholar
Interfacing ROS with Scratch, http://wiki.ros.org/scratch. Accessed July 17, 2018.Google Scholar
Hart, S., Dinh, P., Yamokoski, J. D., Wightman, B. and Radford, N. A., “Robot Task Commander: A Framework and IDE for Robot Application Development,” In: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, USA, September 14–18, 2014 (2014) pp. 1547–1554.Google Scholar
Robot Operating, System, http://www.ros.org/. Accessed July 17, 2018.Google Scholar
Ramos, F., Scrob, C. O., Vázquez, A. S., Fernández, R. and Olivares-Alarcos, A., Skill-Oriented Designer of Conceptual Robotic Structures,” In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE, October 2018), pp. 5679–5684.Google Scholar
IEEE Standard Ontologies for Robotics and Automation, IEEE SA 1872-2015, 2015.https://standards.ieee.org/standard/1872-2015.html. Accessed July 17, 2018Google Scholar
Schunk Modular Robotic, System, https://de.schunk.com/de_en/gripping-systems/category/gripping-systems/handling/modular-and-mobile-gripping-systems/schunk-lightweight-arms/. Accessed July 17, 2018.Google Scholar
Muhayyuddin, A. Akbari and Rosell, J., “Ontological Physics-Based Motion Planning for Manipulation,” In: 2015 IEEE 20th Conference on Emerging Technologies Factory Automation (ETFA), (September 2015) pp. 1–7.CrossRefGoogle Scholar
Muhayyuddin, A. Akbari and Rosell, J., “Knowledge-Oriented Physics-Based Motion Planning for Grasping Under Uncertainty,” In: ROBOT 2017: Third Iberian Robotics Conference (Springer International Publishing, 2018) pp. 502–515.Google Scholar
XML Macros ROS Package, http://wiki.ros.org/xacro/. Accessed July 17, 2018.Google Scholar
diff_drive_controller ROS Package, http://wiki.ros.org/diff_drive_controller. Accessed: July 17, 2018.Google Scholar
Moveit for ROS,. http://moveit.ros.org/. Accessed July 17, 2018.Google Scholar
Gómez, J. G., Modular Robotics and Locomotion: Application to Limbless Robot. Ph.D Thesis (Universidad Autonoma de Madrid, 2008).Google Scholar
KDL ROS Package, http://wiki.ros.org/kdl. Accessed September 1, 2016.Google Scholar
Bitbloq, http://bitbloq.bq.com/#/. Accessed February 28, 2017.Google Scholar
Gonzalez-Gomez, J., Zhang, H. and Boemo, E., “Locomotion Principles of 1D Topology Pitch and Pitch-Yaw-Connecting Modular Robots,” In: Bioinspiration and Robotics Walking and Climbing Robots (InTech, 2007).Google Scholar
Brooke, J., “ SUS: A “Quick and Dirty” Usability Scale,” In: Usability Evaluation in Industry (Taylor & Francis, 1996) pp. 189–194.Google Scholar
Brooke, J., “SUS: A retrospective,” J. Usability Stud. 8(2), 29–40 (2013).Google Scholar
Bangor, A., Kortum, P. and Miller, J., “Determining what individual SUS scores mean: Adding an adjective rating scale,” J. Usability Stud. 4(3), 114–123 (2009).Google Scholar