{"id":"https://openalex.org/W4391579711","doi":"https://doi.org/10.1145/3597503.3623329","title":"Block-based Programming for Two-Armed Robots: A Comparative Study","display_name":"Block-based Programming for Two-Armed Robots: A Comparative Study","publication_year":2024,"publication_date":"2024-02-06","ids":{"openalex":"https://openalex.org/W4391579711","doi":"https://doi.org/10.1145/3597503.3623329"},"language":"en","primary_location":{"id":"doi:10.1145/3597503.3623329","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3597503.3623329","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3597503.3623329","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the IEEE/ACM 46th International Conference on Software Engineering","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3597503.3623329","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5077732917","display_name":"Felipe Fronchetti","orcid":"https://orcid.org/0000-0003-2104-6676"},"institutions":[{"id":"https://openalex.org/I184840846","display_name":"Virginia Commonwealth University","ror":"https://ror.org/02nkdxk79","country_code":"US","type":"education","lineage":["https://openalex.org/I184840846"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Felipe Fronchetti","raw_affiliation_strings":["Virginia Commonwealth University, Richmond, Virginia, USA"],"raw_orcid":"https://orcid.org/0000-0003-2104-6676","affiliations":[{"raw_affiliation_string":"Virginia Commonwealth University, Richmond, Virginia, USA","institution_ids":["https://openalex.org/I184840846"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089955318","display_name":"Nico Ritschel","orcid":"https://orcid.org/0000-0001-5600-2978"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Nico Ritschel","raw_affiliation_strings":["University of British Columbia, Vancouver, British Columbia, Canada"],"raw_orcid":"https://orcid.org/0000-0001-5600-2978","affiliations":[{"raw_affiliation_string":"University of British Columbia, Vancouver, British Columbia, Canada","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092538466","display_name":"Logan Schorr","orcid":"https://orcid.org/0000-0001-7669-0202"},"institutions":[{"id":"https://openalex.org/I184840846","display_name":"Virginia Commonwealth University","ror":"https://ror.org/02nkdxk79","country_code":"US","type":"education","lineage":["https://openalex.org/I184840846"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Logan Schorr","raw_affiliation_strings":["Virginia Commonwealth University, Richmond, Virginia, USA"],"raw_orcid":"https://orcid.org/0000-0001-7669-0202","affiliations":[{"raw_affiliation_string":"Virginia Commonwealth University, Richmond, Virginia, USA","institution_ids":["https://openalex.org/I184840846"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093873471","display_name":"Chandler Barfield","orcid":"https://orcid.org/0009-0009-6008-5206"},"institutions":[{"id":"https://openalex.org/I184840846","display_name":"Virginia Commonwealth University","ror":"https://ror.org/02nkdxk79","country_code":"US","type":"education","lineage":["https://openalex.org/I184840846"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chandler Barfield","raw_affiliation_strings":["Virginia Commonwealth University, Richmond, Virginia, USA"],"raw_orcid":"https://orcid.org/0009-0009-6008-5206","affiliations":[{"raw_affiliation_string":"Virginia Commonwealth University, Richmond, Virginia, USA","institution_ids":["https://openalex.org/I184840846"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102927538","display_name":"Gabriella Chang","orcid":"https://orcid.org/0009-0008-1537-3156"},"institutions":[{"id":"https://openalex.org/I184840846","display_name":"Virginia Commonwealth University","ror":"https://ror.org/02nkdxk79","country_code":"US","type":"education","lineage":["https://openalex.org/I184840846"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gabriella Chang","raw_affiliation_strings":["Virginia Commonwealth University, Richmond, Virginia, USA"],"raw_orcid":"https://orcid.org/0009-0008-1537-3156","affiliations":[{"raw_affiliation_string":"Virginia Commonwealth University, Richmond, Virginia, USA","institution_ids":["https://openalex.org/I184840846"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020235955","display_name":"Rodrigo Sp\u00ednola","orcid":"https://orcid.org/0000-0003-0272-9578"},"institutions":[{"id":"https://openalex.org/I184840846","display_name":"Virginia Commonwealth University","ror":"https://ror.org/02nkdxk79","country_code":"US","type":"education","lineage":["https://openalex.org/I184840846"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rodrigo Spinola","raw_affiliation_strings":["Virginia Commonwealth University, Richmond, Virginia, USA"],"raw_orcid":"https://orcid.org/0000-0003-0272-9578","affiliations":[{"raw_affiliation_string":"Virginia Commonwealth University, Richmond, Virginia, USA","institution_ids":["https://openalex.org/I184840846"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034123811","display_name":"Reid Holmes","orcid":"https://orcid.org/0000-0003-4213-494X"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Reid Holmes","raw_affiliation_strings":["University of British Columbia, Vancouver, British Columbia, Canada"],"raw_orcid":"https://orcid.org/0000-0003-4213-494X","affiliations":[{"raw_affiliation_string":"University of British Columbia, Vancouver, British Columbia, Canada","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063468623","display_name":"David Shepherd","orcid":"https://orcid.org/0000-0003-2017-7842"},"institutions":[{"id":"https://openalex.org/I184840846","display_name":"Virginia Commonwealth University","ror":"https://ror.org/02nkdxk79","country_code":"US","type":"education","lineage":["https://openalex.org/I184840846"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David C. Shepherd","raw_affiliation_strings":["Virginia Commonwealth University, Richmond, Virginia, USA"],"raw_orcid":"https://orcid.org/0000-0003-2017-7842","affiliations":[{"raw_affiliation_string":"Virginia Commonwealth University, Richmond, Virginia, USA","institution_ids":["https://openalex.org/I184840846"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7064,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.76623377,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"12"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10533","display_name":"Teaching and Learning Programming","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1706","display_name":"Computer Science Applications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10533","display_name":"Teaching and Learning Programming","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1706","display_name":"Computer Science Applications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9900000095367432,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9839000105857849,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/debugging","display_name":"Debugging","score":0.8255172967910767},{"id":"https://openalex.org/keywords/usability","display_name":"Usability","score":0.764122724533081},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.7493493556976318},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6918624043464661},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6694454550743103},{"id":"https://openalex.org/keywords/block","display_name":"Block (permutation group theory)","score":0.6624453067779541},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.6192603707313538},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5679873824119568},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5588536858558655},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.4300587773323059},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4234026074409485},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.31139233708381653},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16961652040481567},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.11418762803077698}],"concepts":[{"id":"https://openalex.org/C168065819","wikidata":"https://www.wikidata.org/wiki/Q845566","display_name":"Debugging","level":2,"score":0.8255172967910767},{"id":"https://openalex.org/C170130773","wikidata":"https://www.wikidata.org/wiki/Q216378","display_name":"Usability","level":2,"score":0.764122724533081},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.7493493556976318},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6918624043464661},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6694454550743103},{"id":"https://openalex.org/C2777210771","wikidata":"https://www.wikidata.org/wiki/Q4927124","display_name":"Block (permutation group theory)","level":2,"score":0.6624453067779541},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.6192603707313538},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5679873824119568},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5588536858558655},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.4300587773323059},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4234026074409485},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.31139233708381653},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16961652040481567},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.11418762803077698},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/3597503.3623329","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3597503.3623329","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3597503.3623329","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the IEEE/ACM 46th International Conference on Software Engineering","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.lsu.edu:eecs_pubs-3696","is_oa":true,"landing_page_url":"https://repository.lsu.edu/eecs_pubs/2694","pdf_url":null,"source":{"id":"https://openalex.org/S4210169993","display_name":"Civil War Book Review","issn_l":"1528-6592","issn":["1528-6592"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310315936","host_organization_name":"Louisiana State University","host_organization_lineage":["https://openalex.org/P4310315936"],"host_organization_lineage_names":["Louisiana State University"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Faculty Publications","raw_type":"text"}],"best_oa_location":{"id":"doi:10.1145/3597503.3623329","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3597503.3623329","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3597503.3623329","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the IEEE/ACM 46th International Conference on Software Engineering","raw_type":"proceedings-article"},"sustainable_development_goals":[{"score":0.4699999988079071,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[{"id":"https://openalex.org/G4111360709","display_name":"NRI: FND: End-User Robot Programming","funder_award_id":"2024561","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6318843235","display_name":null,"funder_award_id":"024561","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4391579711.pdf","grobid_xml":"https://content.openalex.org/works/W4391579711.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W1525077055","https://openalex.org/W1540823594","https://openalex.org/W1963557108","https://openalex.org/W1986014385","https://openalex.org/W1993294034","https://openalex.org/W2016225482","https://openalex.org/W2026871269","https://openalex.org/W2062567955","https://openalex.org/W2065364955","https://openalex.org/W2138224356","https://openalex.org/W2262581580","https://openalex.org/W2327422044","https://openalex.org/W2534319320","https://openalex.org/W2547384132","https://openalex.org/W2765786752","https://openalex.org/W2767026290","https://openalex.org/W2893878321","https://openalex.org/W2900551880","https://openalex.org/W2902904687","https://openalex.org/W2910490344","https://openalex.org/W2963821855","https://openalex.org/W2979613320","https://openalex.org/W3000049879","https://openalex.org/W3015004637","https://openalex.org/W3091299024","https://openalex.org/W3129262054","https://openalex.org/W3158716008","https://openalex.org/W3165677001","https://openalex.org/W3178366704","https://openalex.org/W3202764408","https://openalex.org/W4206370118","https://openalex.org/W4248885579"],"related_works":["https://openalex.org/W4321442002","https://openalex.org/W2015265939","https://openalex.org/W2284072287","https://openalex.org/W2611067230","https://openalex.org/W2480201319","https://openalex.org/W2387706296","https://openalex.org/W2155788121","https://openalex.org/W4235469518","https://openalex.org/W2770234245","https://openalex.org/W362492756"],"abstract_inverted_index":{"Programming":[0],"industrial":[1],"robots":[2,54],"is":[3,25],"difficult":[4],"and":[5,31,55,136,148,179],"expensive.":[6],"Although":[7],"recent":[8],"work":[9,187],"has":[10],"made":[11],"substantial":[12],"progress":[13],"in":[14,36,81,101,181],"making":[15],"it":[16,24],"accessible":[17],"to":[18,28,51,78,142,198],"a":[19,44,82,102,108,118,133,193],"wider":[20,194],"range":[21],"of":[22,196,206],"users,":[23],"often":[26],"limited":[27],"simple":[29],"programs":[30],"its":[32],"usability":[33],"remains":[34],"untested":[35],"practice.":[37],"In":[38],"this":[39,167],"article,":[40],"we":[41,161],"introduce":[42],"Duplo,":[43],"block-based":[45],"programming":[46,104,120],"environment":[47],"that":[48,58,84,114,122,138,165],"allows":[49],"end-users":[50,85],"program":[52,64,77],"two-armed":[53],"solve":[56,143],"tasks":[57],"require":[59],"coordination.":[60],"Duplo":[61,116,128,139],"positions":[62],"the":[63,70,144,154,184,203],"for":[65],"each":[66,76],"arm":[67],"side-by-side,":[68],"using":[69],"spatial":[71],"relationship":[72],"between":[73],"blocks":[74],"from":[75],"represent":[79],"parallelism":[80],"way":[83],"can":[86],"easily":[87],"understand.":[88],"This":[89,186],"design":[90],"was":[91],"proposed":[92],"by":[93],"previous":[94],"work,":[95],"but":[96],"not":[97],"implemented":[98],"or":[99],"evaluated":[100,115],"realistic":[103],"setting.":[105],"We":[106,126],"performed":[107],"randomized":[109],"experiment":[110],"with":[111,129,149,183],"52":[112],"participants":[113,141],"on":[117],"complex":[119],"task":[121,146],"contained":[123],"several":[124],"sub-tasks.":[125],"compared":[127],"RobotStudio":[130],"Online":[131],"YuMi,":[132],"commercial":[134],"solution,":[135],"found":[137],"allowed":[140],"same":[145],"faster":[147],"greater":[150],"success.":[151],"By":[152],"analyzing":[153],"information":[155],"collected":[156],"during":[157],"our":[158],"user":[159],"study,":[160],"further":[162],"identified":[163],"factors":[164],"explain":[166],"performance":[168],"difference,":[169],"as":[170,172,176],"well":[171],"remaining":[173],"barriers,":[174],"such":[175],"debugging":[177],"issues":[178],"difficulties":[180],"interacting":[182],"robot.":[185],"represents":[188],"another":[189],"step":[190],"towards":[191],"allowing":[192],"audience":[195],"non-professionals":[197],"program,":[199],"which":[200],"might":[201],"enable":[202],"broader":[204],"deployment":[205],"robotics.":[207]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-22T08:00:12.763002","created_date":"2025-10-10T00:00:00"}