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.

翻译：机器人专家常需比较机器人运动，以完成参数调整、故障排查及运动方案选择等任务。然而，现有可视化工具大多针对单一运动设计，缺乏有效支持运动比较的功能。本文采用严谨的设计框架，开发了基于网络的工具“运动比较器”，以促进对机器人运动的理解、比较与交流。我们的设计流程明确了机器人专家的需求，阐述了设计挑战，并提出了相应策略。运动比较器包含多视图协同、四元数可视化、时间规整及对比设计等关键功能。为展示运动比较器的应用，我们讨论了四个案例研究，分别涉及运动选择、故障排查、参数调整和运动评估。