Operator control interface configuration for line-of-sight mobile manipulation

Ian Lynn; Jeff Will; Kevin L. Moore

doi:10.1117/12.775761

16 April 2008 Operator control interface configuration for line-of-sight mobile manipulation

Ian Lynn, Jeff Will, Kevin L. Moore

Proceedings Volume 6962, Unmanned Systems Technology X; 69620Q (2008) https://doi.org/10.1117/12.775761
Event: SPIE Defense and Security Symposium, 2008, Orlando, Florida, United States

Abstract

Manipulator control interface development and optimization is a well researched topic covering both hardware and software implementations. Studies of this nature are intended to better understand the relationship between an operator and a teleoperated robotic platform. Few studies, however have conducted a systematic and statistical study of an operator's level of performance piloting a mobile manipulator platform in a line-of-sight, (LOS) situation based on the relationship between the degrees of freedom present on a controller and the degrees of freedom present on the robotic platform. This paper presents the development and results of different hardware controller interfaces for the ODIS-T2 mobile platform and an attached 4 degree of freedom manipulator, using both established and novel methodologies. Statistical results from operators' performance for each controller interface during line-of-sight operation along with operators' preferences and perceived workloads are used to make a conclusion with regards to the optimal controller configuration for the ODIS-T2 mobile manipulator platform.

Citation Download Citation

Ian Lynn, Jeff Will, and Kevin L. Moore "Operator control interface configuration for line-of-sight mobile manipulation", Proc. SPIE 6962, Unmanned Systems Technology X, 69620Q (16 April 2008); https://doi.org/10.1117/12.775761

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