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.
Original language | English |
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Pages (from-to) | 128-139 |
Journal | IEEE Transactions on Haptics |
Volume | 11 (Jan-March 2018) |
Issue number | 1 |
DOIs | |
Publication status | Published - 2017 |
Keywords
- Co-operation
- Collaboration
- Cost function
- Cranes
- dyads
- Haptics
- Maintenance engineering
- Manipulators
- Remote handling
- Standards
- Tele-manipulation