TY - GEN
T1 - Usability test in different types of control-authority allocations for multi-operator single-robot system OCTOPUS
AU - Chen, Kui
AU - Kamezaki, Mitsuhiro
AU - Katano, Takahiro
AU - Kaneko, Taisei
AU - Azuma, Kohga
AU - Seki, Masatoshi
AU - Ichiryu, Ken
AU - Ishida, Tatsuzo
AU - Sugano, Shigeki
N1 - Funding Information:
This research was supported in part by the Industrial Cluster Promotion Project in Fukushima Prefecture, JSPS KAKENHI Grant Numbers 16K06196, the Research Institute for Science and Engineering, Waseda University, and in part by the China Scholarship Council (CSC).
Publisher Copyright:
© Springer International Publishing AG 2018.
PY - 2018
Y1 - 2018
N2 - Four-arm four-flipper disaster response robot called OCTOPUS, which has 26 degrees of freedom (DOF), has been developed to engage in complex disaster response work. OCTOPUS adopts a multi-operator single-robot (MOSR) control system, and two operators manually control the robot. The pattern of control-authority allocation (CAA) for two operators largely affects performance of MOSR systems, so this study conducts usability tests in various CAAs, and derives a reasonable CAA pattern. So far, there are no uniform standard allocation rules for flippers and crawlers in multi-limb robots like OCTOPUS, therefore we specify five CAA patterns for investigation. Three fundamental tasks that whole body of the robot must be cooperatively controlled were conducted to test the usability in each CAA pattern. From the results of analysis, we found that pattern 1, which one operator controls front two arms, flippers, and crawlers, and another operator controls remaining back parts, had best scores for all tasks, as well as pattern 2 had the best distribution of workload between two operators.
AB - Four-arm four-flipper disaster response robot called OCTOPUS, which has 26 degrees of freedom (DOF), has been developed to engage in complex disaster response work. OCTOPUS adopts a multi-operator single-robot (MOSR) control system, and two operators manually control the robot. The pattern of control-authority allocation (CAA) for two operators largely affects performance of MOSR systems, so this study conducts usability tests in various CAAs, and derives a reasonable CAA pattern. So far, there are no uniform standard allocation rules for flippers and crawlers in multi-limb robots like OCTOPUS, therefore we specify five CAA patterns for investigation. Three fundamental tasks that whole body of the robot must be cooperatively controlled were conducted to test the usability in each CAA pattern. From the results of analysis, we found that pattern 1, which one operator controls front two arms, flippers, and crawlers, and another operator controls remaining back parts, had best scores for all tasks, as well as pattern 2 had the best distribution of workload between two operators.
KW - Control authority allocation
KW - Human-machine system
KW - Multi-operator single-robot system
KW - Usability test
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U2 - 10.1007/978-3-319-60492-3_64
DO - 10.1007/978-3-319-60492-3_64
M3 - Conference contribution
AN - SCOPUS:85022319882
SN - 9783319604916
T3 - Advances in Intelligent Systems and Computing
SP - 675
EP - 685
BT - Advances in Usability and User Experience - Proceedings of the AHFE 2017 International Conference on Usability and User Experience, 2017
A2 - Falcao, Christianne
A2 - Ahram, Tareq
PB - Springer Verlag
T2 - AHFE 2017 International Conference on Usability and User Experience, 2017
Y2 - 17 July 2017 through 21 July 2017
ER -