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首页> 外文会议>2017 XLIII Latin American Computer Conference >A comparison of smartphone interfaces for teleoperation of robot arms
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A comparison of smartphone interfaces for teleoperation of robot arms

机译：用于机器人手臂遥控操作的智能手机界面比较

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摘要

Human-in-the-loop control of remote robot arms and hands, telemanipulation, is commonly done by using a mechanical master device specifically designed to match the robot and its degrees-of-freedom (DOF). For simultaneous arm and hand manipulation, this device might be complex and expensive. In order to introduce telemanipulation into human environments, intuitive and inexpensive interfaces are needed. Most people carry smartphones, and thus smartphone-based interfaces allow people to be “on-call” to intervene with a robot while going about their other daily activities. In this paper, we design and compare three interfaces on an inexpensive smartphone to telemanipulate a Barrett WAM arm and hand, and we use a conventional gamepad interface as a reference. Visual feedback is provided by streaming video of the robot's workspace to the smartphone. We establish the completion time, pose error and energy consumption while picking-and-placing an object in a particular location as objective measurements. We combine these measurements with a Likert-type qualitative evaluation. Results show that smartphone-based interfaces are a good compromise between availability and performance in human-in-the-loop scenarios. Nevertheless, conventional gamepad interfaces are still at least 43% better in regard to completion time and 29% in relation to pose error, but they are 24% less efficient concerning energy consumption.
机译：通常通过使用专门设计用于匹配机器人及其自由度（DOF）的机械主设备来完成远程机器人手臂的人在环控制，遥控操作。对于同时的手臂和手部操纵，该设备可能是复杂且昂贵的。为了将遥控操作引入人类环境，需要直观且廉价的界面。大多数人都携带智能手机，因此基于智能手机的界面允许人们在进行其他日常活动时“随时随地”干预机器人。在本文中，我们设计并比较了一款廉价智能手机上的三个界面，以遥控Barrett WAM手臂和手部，并以传统的游戏手柄界面为参考。通过将机器人工作区的视频流传输到智能手机来提供视觉反馈。我们确定完成时间，姿势误差和能耗，同时在特定位置拾取和放置对象作为客观测量。我们将这些度量与李克特式定性评估相结合。结果表明，基于智能手机的界面是在环环相扣的情况下可用性和性能之间的良好折衷。尽管如此，传统的游戏手柄界面在完成时间方面至少要好43％，在姿势错误方面要好29％，但在能耗方面却低24％。

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