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Proceedings Paper

Visual interfaces for operation of non-line-of-sight mobile manipulation
Author(s): Jeff Will; Ian Lynn; Kevin L. Moore
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Paper Abstract

Early applications of mobile robots focused on reconnaissance, surveillance, and target acquisition (RSTA) or related activities. For such scenarios, a significant body of experience has been developed related to the use of camera feedback for non-line-of-sight (NLOS) tele-operation for basic robot motion control (or driving) and remote surveillance. Recently, there has been increased interest in enhancing the capabilities of mobile platforms through the addition of robotic arms and manipulators, thus allowing remote manipulation of payloads or other devices in the environment (e.g., disarming explosives in a military application). In this case, the demands on the remote vision system become very different, as there are various modes in which the user can gain awareness of the motion of the platform and the manipulator arm. This includes robot view (typical driving camera), the view from an arm-mounted camera (eye-in-hand), and possibly the view from a fixed camera or from a camera mounted on the robot that captures the complete arm motion (scene view). To date, there have been few systematic studies that compare and contrast these different approaches to operator visual interfaces for NLOS robot and arm control interfaces. In this paper we address this problem, presenting a systematic, controlled, statistical study involving multiple subjects performing multiple trials of a NLOS tele-operated mobile manipulation task. The results of the study can be used to guide the development of operator visual interfaces for mobile manipulators.

Paper Details

Date Published: 16 April 2008
PDF: 9 pages
Proc. SPIE 6962, Unmanned Systems Technology X, 69620U (16 April 2008); doi: 10.1117/12.775773
Show Author Affiliations
Jeff Will, Valparaiso Univ. (United States)
Ian Lynn, Colorado School of Mines (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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