As robots interact with a broader range of end-users, end-user robot programming has helped democratize robot programming by empowering end-users who may not have experience in robot programming to customize robots to meet their individual contextual needs. This article surveys work on end-user robot programming, with a focus on end-user program specification. It describes the primary domains, programming phases, and design choices represented by the end-user robot programming literature. The survey concludes by highlighting open directions for further investigation to enhance and widen the reach of end-user robot programming systems.

翻译：随着机器人与更广泛的终端用户互动,终端用户机器人编程有助于通过赋予可能没有机器人编程经验的终端用户权力,实现机器人编程民主化,使这些用户能够定制机器人,以满足他们各自的环境需要。本文章调查终端用户机器人编程工作,重点是终端用户程序规格。它描述了终端用户机器人编程文献所代表的主要领域、编程阶段和设计选择。调查最后强调了进一步调查的开放方向,以加强和扩大终端用户机器人编程系统的覆盖范围。