ロボット動作の視覚的比較ツール「Motion Comparator」
Motion Comparator: Visual Comparison of Robot Motions
ロボット研究者が複数の動作を比較・検討できるよう、マルチビュー連携やクォータニオン可視化、時間ワープなどを備えたWebベースの可視化ツールを設計・開発した。
著者: Yeping Wang, Alexander Peseckis, Zelong Jiang, Michael Gleicher
分類: cs.RO
原文アブストラクト
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.
