Title :
An Evaluation of Visual Interfaces for Teleoperated Control of Kinematically Redundant Manipulators
Author :
Hinton, Shantell R. ; Hoover, Randy C. ; Maciejewski, Anthony A.
Author_Institution :
Dept. of Electr. & Comput. Eng., Colorado State Univ., Fort Collins, CO
Abstract :
The utilization of robots in hazardous environments for tasks that require high safety and/or precision is significantly increasing. In this work, we consider scenarios where kinematically redundant manipulators are teleoperated to complete tasks specified by point-to-point motion. Teleoperator performance is evaluated based on several different criteria. We build upon previous work on the performance of human/robotic systems by studying the effects of two different visual interfaces. Namely, we compare a world view with an eye-in-hand view and evaluate how these two different visual interfaces affect human performance and task completion.
Keywords :
graphical user interfaces; redundant manipulators; telerobotics; human-robotic system; kinematically redundant manipulator; point-to-point motion; teleoperated control; visual interface; Computational modeling; Computer interfaces; Control systems; Humans; Manipulators; Robots; Safety; Systems engineering and theory; Teleoperators; Telerobotics; kinematically redundants; manipulator; teloperate; visual interface;
Conference_Titel :
Systems Engineering, 2008. ICSENG '08. 19th International Conference on
Conference_Location :
Las Vegas, NV
Print_ISBN :
978-0-7695-3331-5
DOI :
10.1109/ICSEng.2008.45
