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Proceedings Paper

Operator control interface configuration for line-of-sight mobile manipulation
Author(s): Ian Lynn; Jeff Will; Kevin L. Moore
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Paper 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.

Paper Details

Date Published: 16 April 2008
PDF: 12 pages
Proc. SPIE 6962, Unmanned Systems Technology X, 69620Q (16 April 2008); doi: 10.1117/12.775761
Show Author Affiliations
Ian Lynn, Colorado School of Mines (United States)
Jeff Will, Valparaiso Univ. (United States)
Kevin L. Moore, Colorado School of Mines (United States)


Published in SPIE Proceedings Vol. 6962:
Unmanned Systems Technology X
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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