TY - GEN
T1 - Analysis of operation strategy in a multi-operator control system for four-arm disaster response robot OCTOPUS
AU - Chen, Kui
AU - Kamezaki, Mitsuhiro
AU - Katano, Takahiro
AU - Ishida, Tatsuzo
AU - Seki, Masatoshi
AU - Ichiryu, Ken
AU - Sugano, Shigeki
N1 - Funding Information:
This research was supported in part by the Industrial Cluster Promotion Project in Fukushima Pref., in part by the Institute for Disaster Response Robotics, Future Robotics Organization, Waseda University, in part by the Research Institute for Science and Engineering, Waseda University, and in part by the China Scholarship Council (CSC).
Publisher Copyright:
© 2016 IEEE.
PY - 2017/2/6
Y1 - 2017/2/6
N2 - Disaster response robot with four arms and flippers OCTOPUS has high mobility and task-execution capabilities. Owing to the higher number of degrees of freedom, OCTOPUS is controlled by two operators, however this kind of robots is inherently difficult to be operated. To design easy-to-use human machine interfaces and intelligent control systems, we need to analyze and quantify a reasonable operation strategy in multi-operator control systems. Thus, three different types of essential disaster response tasks were conducted by using OCTOPUS and we analyzed results of operations and work performance, by focusing on each operator and each pair. As the results, we derived basic operation strategies as follow; operators with higher number of simultaneously-operated joints (Ns) can control OCTOPUS more smoothly, and pairs with higher rate of cooperated operations (Rc) can finish tasks more efficiently. We also found that Ns and Rc can be used to quantify operational skills. Revealed strategies and parameters could be useful to design new human-machine interface and intelligent control system.
AB - Disaster response robot with four arms and flippers OCTOPUS has high mobility and task-execution capabilities. Owing to the higher number of degrees of freedom, OCTOPUS is controlled by two operators, however this kind of robots is inherently difficult to be operated. To design easy-to-use human machine interfaces and intelligent control systems, we need to analyze and quantify a reasonable operation strategy in multi-operator control systems. Thus, three different types of essential disaster response tasks were conducted by using OCTOPUS and we analyzed results of operations and work performance, by focusing on each operator and each pair. As the results, we derived basic operation strategies as follow; operators with higher number of simultaneously-operated joints (Ns) can control OCTOPUS more smoothly, and pairs with higher rate of cooperated operations (Rc) can finish tasks more efficiently. We also found that Ns and Rc can be used to quantify operational skills. Revealed strategies and parameters could be useful to design new human-machine interface and intelligent control system.
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U2 - 10.1109/SII.2016.7844050
DO - 10.1109/SII.2016.7844050
M3 - Conference contribution
AN - SCOPUS:85015393671
T3 - SII 2016 - 2016 IEEE/SICE International Symposium on System Integration
SP - 514
EP - 519
BT - SII 2016 - 2016 IEEE/SICE International Symposium on System Integration
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE/SICE International Symposium on System Integration, SII 2016
Y2 - 13 December 2016 through 15 December 2016
ER -