Tele-manipulation with two asymmetric slaves
Two operators perform better than one
Jeroen Van Oosterhout (FOM Institute DIFFER, TU Delft - Human-Robot Interaction)
Cock J.M. Heemskerk (Heemskerk Innovative Technology B.V.)
Marco R. de Baar (FOM Institute DIFFER)
Frans Van Der Helm (TU Delft - Biomechatronics & Human-Machine Control)
David Abbink (TU Delft - Human-Robot Interaction)
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Abstract
Certain tele-manipulation tasks require manipulation by two asymmetric slaves, for example a crane for hoisting and a dexterous robotic arm for fine manipulation. It is unclear how to best design human-in-the-loop control over two asymmetric slaves. The goal of this paper is to quantitatively compare the standard approach of two co-operating operators that each control a single subtask, to a single operator performing bimanual control over the two subtasks, and a uni-manual control approach.
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