Robotic welding path programming is commonly framed as a technical problem addressed through expert-oriented tools. This pictorial presents a Research-through-Design (RtD) exploration of an Augmented Reality (AR) interface that allows operators to define seam and tack welding paths directly on physical workpieces using gestural input, while receiving immediate visual feedback on robotic reachability derived from inverse kinematics. This pictorial documents a series of design interactions in which system was progressively refined through deployment and designerly reflection, and examining how spatial interaction and infrastructural breakdowns can influence human understanding of robotic constraints during welding path planning. Through annotated images and reflective accounts of system use, this pictorial contributes (1) an AR-based path planning workflow that supports both seam and tack welding, and (2) design knowledge on how computational and visual feedback mediates embodied human-robot negotiation.

This paper presents an account of using embodied composition as an approach to engage people in imagining robotic sound space. Embodied composition entails using bodily movements to produce a sequence of sounds. Semantic-free sound can play a useful communicative role in human-robot interaction. This includes robotic consequential sounds, i.e., sounds that robots inevitably make when moving, and the sonification of this movement. We bring together these topics and present a participatory, embodied approach that enables in-person investigation of robot consequential sound and movement sonification. We present three key insights about the approach based on three consecutive studies with a total of 29 participants. First, embodied composition engages participants' imagination of robotic sounds. Second, we found that movement, similar to listening, is tied to the individual and thereby leads to features and constraints for composition. Third, we found that sound can change people's experiences of the physical presence of the robot. Our discussion highlights that designing robot sounds benefits from a dialectical interaction approach. This offers a new direction for sound in human-robot interaction, relying not just on linear and functional design, but rather on designing for sound experiences.