Teleoperated system performance evaluation

McLean, G.F.; Prescott, Barbara L.; Podhorodeski, Ron P.

doi:10.1109/21.293496

Cited by 22 publications

(13 citation statements)

References 22 publications

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“…A cooperative peg-in-hole task has been employed to evaluate the effectiveness of haptic guides in bilateral teleoperation grasping [7]. Another peg-in-hole type task was performed by McLean et al [8] to evaluate new performance metrics and to study effects of 2D, 3D, and direct viewing conditions. Goel et al [9] and Hwang and Hannaford [10] have employed point-to-point motion and positioning tasks to evaluate redundancy resolution schemes considering joint failure and pseudoinverse inertia weighting, respectively.…”

Section: Introductionmentioning

confidence: 99%

Task Performance Evaluation of Asymmetric Semiautonomous Teleoperation of Mobile Twin-Arm Robotic Manipulators

Malysz

Sirouspour

2013

IEEE Trans. Haptics

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A series of human factors experiments involving maneuvering and grasping tasks are carried out to evaluate the effectiveness of a novel asymmetric semiautonomous teleoperation (AST) control design framework for teleoperation of mobile twin-arm robotic manipulators. Simplified configurations are examined first to explore control strategies for different aspects of such teleoperation tasks. These include teleoperation of a nonholonomic mobile base, telemanipulation of a dual-arm robot, and dual-arm/dual-operator teleoperation task scenarios. In two sets of experiments with a planar nonholonomic mobile base, teleoperation via a 3DOF planar haptic interface with position mapping and force reflection of the nonholonomic constraint decreases task-completion-time (TCT) and reduces unwanted collisions. In dual-arm and dual-operator teleoperation maneuverability experiments, the assignment of decoupled and nonconflicting control frames reduces TCT and unwanted contacts. The use of so-called "soft" constraints via passive semiautonomous control reduces TCT and unwanted block drops in telegrasping experiments with a twin-arm manipulator. A final comprehensive experiment encompassing elements of the simplified configurations demonstrates the effectiveness of AST control framework in dual-operator teleoperation of a twin-arm mobile manipulator.

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Section: Introductionmentioning

confidence: 99%

Task Performance Evaluation of Asymmetric Semiautonomous Teleoperation of Mobile Twin-Arm Robotic Manipulators

Malysz

Sirouspour

2013

IEEE Trans. Haptics

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“…Teleoperation systems have been the object of study since 1949 (Goertz, 1964) but studies have mainly concentrated on the analysis of the factors of the system, such as bilateral control, master devices, operator aids, effects of time delay, force feedback, movement control, etc (Lee & Lee, 1993;Lida & Ohnishi, 2004;McLean, Prescott, & Podhorodeski, 1994;Sheridan, 1992). These factors affect system performance and thus the quality of the task.…”

Section: Introductionmentioning

confidence: 99%

An experimental study about the effect of interactions among functional factors in performance of telemanipulation systems

Mora

Barrientos

2007

Control Engineering Practice

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“…Methods to evaluate teleoperation systems are classified into mainly two ways: theory-based [4] [20] and experiment-based [6][2][13] [14]. The theory-based approach enables us to evaluate the systems quantitatively, but we first need to identify the dynamics of the target system.…”

Section: Tmmentioning

confidence: 99%

Bilateral Teleoperation: Towards Fine Manipulation with Large Time Delay

Yokokohji

Imaida

Iida

et al.

Experimental Robotics VII

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Abstract:To conduct tasks that need high dexterity by teleoperation, a unified hand/arm master-slave system was developed. To measure the dexterity of individual teleoperation systems all over the world in equal condition, we propose toy block assembling (LEGO TM ) as the benchmark test for teleoperation systems. Meanwhile, a bilateral teleoperation experiment with ETS-VII (Engineering Test Satellite No.7) was conducted on November 22, 1999. Round-trip time for communication between the NASDA ground station and ETS-VII was approximately six seconds. These two results are the first step to improve the dexterity of teleoperation systems and to investigate the relationship between time delay and dexterity.

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Teleoperated system performance evaluation

Cited by 22 publications

References 22 publications

Task Performance Evaluation of Asymmetric Semiautonomous Teleoperation of Mobile Twin-Arm Robotic Manipulators

Task Performance Evaluation of Asymmetric Semiautonomous Teleoperation of Mobile Twin-Arm Robotic Manipulators

An experimental study about the effect of interactions among functional factors in performance of telemanipulation systems

Bilateral Teleoperation: Towards Fine Manipulation with Large Time Delay

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