WORM: Programming Collaborative Robots Through Manual Actions for Craft-Aligned Digital Fabrication
summary
A system lets artists physically drive a cobot end effector like a handheld tool, record a low-level craft action (brushstroke, carving), then replay it as spatially parameterized repeats with previewed rotation angle and repetition count. The implementation uses a custom handle controller with trigger and joystick, supports seven repetition modes, and attaches tools like a hot wire cutter on foam to produce molds and textured cups. Evaluation includes a 3-hour study and a 4-hour expert evaluation with professional artists.
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chapters (16)
- 0:00Introduction to WORM
- 0:24Research background and motivation
- 1:28Why cobots suit craft fabrication
- 2:11Limitations of current cobot programming
- 2:56Introducing the WORM system
- 3:37Recording manual craft actions
- 4:19Defining spatial procedural repetitions
- 5:01Creating compound actions
- 5:22Custom handle controller design
- 6:07Demonstrative examples and artifacts
- 6:49User studies and design guidelines
- 8:54Benefits of manual input in fabrication
- 9:17Future directions and conclusion
- 9:39Q&A: Embodiment and creative practice
- 10:39Q&A: Degrees of freedom limitations
- 12:05Q&A: Surgical robots and future work
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