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Proceedings Paper

Effects of vehicle station-keeping and end-effector disturbance compensation on neutral-buoyancy teleoperation
Author(s): Michael S. Valdez
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Paper Abstract

Experiments were conducted with a neutral-buoyancy robot to test whether vehicle station keeping and end effector disturbance compensation significantly affect human teleoperation performance. The vehicle used for experiments, called the Submersible for Telerobotic Astronautical Research (STAR) is a free-flying underwater telerobot equipped with a three degree of freedom arm, a stereo pan/tilt camera platform, and a vision-based navigation system. Using visual feedback from a fixed onboard camera, test subject performed a Fitts- type tapping task with the arm while the vision navigator and control system held the vehicle steady relative to a visual reference target. This paper describes the testbed vehicle, experiments, data analysis, and conclusions.

Paper Details

Date Published: 21 December 1993
PDF: 14 pages
Proc. SPIE 2057, Telemanipulator Technology and Space Telerobotics, (21 December 1993); doi: 10.1117/12.164912
Show Author Affiliations
Michael S. Valdez, Massachusetts Institute of Technology (United States)

Published in SPIE Proceedings Vol. 2057:
Telemanipulator Technology and Space Telerobotics
Won Soo Kim, Editor(s)

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