Comparing Alternate Modes of Teleoperation for Constrained Tasks

[1905.04428] Comparing Alternate Modes of Teleoperation for Constrained Tasks Skip to main content Search Submit Donate Log in Search arXiv Press Enter to search · Advanced search Computer Science > Robotics arXiv:1905.04428 (cs) [Submitted on 11 May 2019] Title: Comparing Alternate Modes of Teleoperation for Constrained Tasks Authors: Christopher E. Mower , Wolfgang Merkt , Aled Davies , Sethu Vijayakumar View a PDF of the paper titled Comparing Alternate Modes of Teleoperation for Constrained Tasks, by Christopher E. Mower and Wolfgang Merkt and Aled Davies and Sethu Vijayakumar View PDF HTML (experimental) Abstract: Teleoperation of heavy machinery in industry often requires operators to be in close proximity to the plant and issue commands on a per-actuator level using joystick input devices. However, this is non-intuitive and makes achieving desired job properties a challenging task requiring operators to complete extensive and costly training. Despite this, operator fatigue is common with implications for personal safety, project timeliness, cost, and quality. While full automation is not yet achievable due to unpredictability and the dynamic nature of the environment and task, shared control paradigms allow operators to issue high-level commands in an intuitive, task-informed control space while having the robot optimize for achieving desired job properties. In this paper, we compare a number of modes of teleoperation, exploring both the number of dimensions of the control input as well as the most intuitive control spaces. Our experimental evaluations of the performance metrics were based on quantifying the difficulty of tasks based on the well known Fitts' law as well as a measure of how well constraints affecting the task performance were met. Our experiments show that higher performance is achieved when humans submit commands in low-dimensional task spaces as opposed to joint space manipulations. Subjects: Robotics (cs.RO) Cite as: arXiv:1905.04428 [cs.RO] (or arXiv:1905.04428v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.1905.04428 Focus to learn more arXiv-issued DOI via DataCite Related DOI : https://doi.org/10.1109/COASE.2019.8843265 Focus to learn more DOI(s) linking to related resources Submission history From: Christopher E. Mower [ view email ] [v1] Sat, 11 May 2019 02:50:44 UTC (5,944 KB) Full-text links: Access Paper: View a PDF of the paper titled Comparing Alternate Modes of Teleoperation for Constrained Tasks, by Christopher E. Mower and Wolfgang Merkt and Aled Davies and Sethu Vijayakumar View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO < prev | next > new | recent | 2019-05 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar DBLP - CS Bibliography listing | bibtex Christopher E. Mower Wolfgang Merkt Aled Davies Sethu Vijayakumar export BibTeX citation Loading... BibTeX formatted citation × loading... Data provided by: Bookmark Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer ( What is the Explorer? ) Connected Papers Toggle Connected Papers ( What is Connected Papers? ) Litmaps Toggle Litmaps ( What is Litmaps? ) scite.ai Toggle scite Smart Citations ( What are Smart Citations? ) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv ( What is alphaXiv? ) Links to Code Toggle CatalyzeX Code Finder for Papers ( What is CatalyzeX? ) DagsHub Toggle DagsHub ( What is DagsHub? ) GotitPub Toggle Gotit.pub ( What is GotitPub? ) Huggingface Toggle Hugging Face ( What is Huggingface? ) ScienceCast Toggle ScienceCast ( What is ScienceCast? ) Demos Demos Replicate Toggle Replicate ( What is Replicate? ) Spaces Toggle Hugging Face Spaces ( What is Spaces? ) Spaces Toggle TXYZ.AI ( What is TXYZ.AI? ) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower ( What are Influence Flowers? ) Core recommender toggle CORE Recommender ( What is CORE? ) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs . Which authors of this paper are endorsers? | Disable MathJax ( What is MathJax? ) We gratefully acknowledge support from our major funders , member institutions , , and all contributors. About · Help · Contact · Subscribe · Copyright · Privacy · Accessibility · Operational Status (opens in new tab) Major funding support from

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