title: Task performance evaluation of asymmetric semiautonomous teleoperation of mobile twin-arm robotic manipulators.
abstract: A series of human factors experiments involving maneuvering and grasping tasks are carried out to evaluate the effectiveness of a novel asymmetric semiautonomous teleoperation (AST) control design framework for teleoperation of mobile twin-arm robotic manipulators. Simplified configurations are examined first to explore control strategies for different aspects of such teleoperation tasks. These include teleoperation of a nonholonomic mobile base, telemanipulation of a dual-arm robot, and dual-arm/dual-operator teleoperation task scenarios. In two sets of experiments with a planar nonholonomic mobile base, teleoperation via a 3DOF planar haptic interface with position mapping and force reflection of the nonholonomic constraint decreases task-completion-time (TCT) and reduces unwanted collisions. In dual-arm and dual-operator teleoperation maneuverability experiments, the assignment of decoupled and nonconflicting control frames reduces TCT and unwanted contacts. The use of so-called "soft" constraints via passive semiautonomous control reduces TCT and unwanted block drops in telegrasping experiments with a twin-arm manipulator. A final comprehensive experiment encompassing elements of the simplified configurations demonstrates the effectiveness of AST control framework in dual-operator teleoperation of a twin-arm mobile manipulator.
authors.forename: Pawel
authors.initials: P
authors.lastname: Malysz
authors.forename: Shahin
authors.initials: S
authors.lastname: Sirouspour
mesh_terms: D000465:Algorithms; D004867:Equipment Design / Q000379:methods; D006801:Humans; D008328:Man-Machine Systems; D012371:Robotics / Q000295:instrumentation* / Q000379:methods*; D013647:Task Performance and Analysis; D055698:Touch Perception / Q000502:physiology; D014584:User-Computer Interface