These findings informed our development of Demoshop, an interactive robot programming tool that includes user-centric programming aids to help end-users author and edit task demonstrations.

While end-user robot programming methods such as kinesthetic teaching have introduced direct approaches to task demonstration that allow users to avoid working with traditional programming constructs, our formative study revealed that everyday people still have difficulties in specifying effective robot programs using these methods due to challenges in understanding robot kinematics and programming without situated context and assistive system feedback. Just as end-user programming has helped make computer programming accessible for a variety of users and settings, end-user robot programming has helped empower end-users without specialized knowledge or technical skills to customize robotic assistance that meets diverse environmental constraints and task requirements. The evaluation showed, that the cosine blending function with the interval method best fits the needs of our programming system. Afterwards, linear, Gaussian, and cosine blending functions in combination with the point and interval method are introduced for weighting the increments and as a foundation for the adaption algorithm. To achieve this, two methods of defining the loop increments are shown. After each loop iteration, the user-defined increment is added to the incremental configurations, e.g. Only the base trajectory for one repetition needs to be program med. We present the concept of loop increments for playback programmed robots to allow the user to teach tasks like palletizing or stacking without having to explicitly guide the robot through each trajectory. However, it is only capable of replaying the trajectory exactly as it was taught. Playback robot programming is fast and easy to use for non-experts, because the robot only needs to be manually guided. Despite its advantages and widespread use, kinesthetic teaching has limitations, including the requirement for the robot to be physically present during programming, which may lessen workplace productivity the physical demands placed on the user in physically guiding the robot, which may make it infeasible to program heavy industrial robots using this method and the need for the robot being programmed to be equipped with sensors and motors that enable kinesthetic demonstrations. Kinesthetic teaching requires low cognitive load for users allows programmers to have better control of a robot's movements compared to alternative methods, such as direct manipulation of a virtual image of the robot and can be faster and more intuitive for end-users because it works within the robot's configuration space, making it the predominant end-user robot programming method in robotics and a popular programming method in scientific literature (e.g., ).

Video editor robot