Towards a modular and distributed End-User Development framework for Human-Robot Interaction

Enrique Coronado, Dominique Deuff, Pamela Carreno-Medrano, Leimin Tian, Dana Kulic, Shanti Sumartojo, Fulvio Mastrogiovanni, Gentiane Venture

Research output: Contribution to journalArticleResearchpeer-review

6 Citations (Scopus)


In an effort towards the democratization of Robotics, this article presents a novel End-User Development framework called Robot Interfaces From Zero Experience (RIZE). The framework provides a set of useful software tools for the creation of robot-oriented software architectures and programming interfaces, as well as the modeling and execution of robot behaviors, with a specific emphasis on social behaviors. Programming interfaces built on top of RIZE enable professionals with different backgrounds and interests to design, adapt, and scale-up robotics applications. As an example of a programming interface, we present Open RIZE, which exploits an End-User Programming paradigm combining blocks, tables, and forms-filling interfaces. Unlike previous approaches, robot behavioral code generated by Open RIZE is intrinsically modular, re-usable, scalable, neutral to the employed programming language, and platform-agnostic. In the paper, we present the main design guidelines and features of Open RIZE. Additionally, we perform an initial usability evaluation of the Open RIZE interface in an online workshop. Preliminary results using the System Usability Scale with 10 novice end-users indicate that Open RIZE is easy-to-use and learn.

Original languageEnglish
Pages (from-to)12675-12692
Number of pages18
JournalIEEE Access
Publication statusPublished - 14 Jan 2021


  • End-User Development
  • Human-Robot Interaction
  • Programming
  • Programming profession
  • Robot Programming
  • Robotics
  • Robots
  • Service robots
  • Service Robots
  • Social Robots
  • Task analysis
  • Tools
  • Visualization

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