Perception of Robot Passability and Aperture Width during Direct Line of Sight and Teleoperation Conditions

摘要

The current experiment examined the ability of participants to judge the passability of a robot through an aperture and to reproduce the width of the aperture in both Direct line of Sight (DLS) and Teleoperation (TO) conditions. Previous research performed in our laboratory has shown that participants overestimate robot passability in teleoperation conditions (i.e. they state that the robot can pass when it cannot). The current study aimed to replicate past findings as well as to determine the cause of overestimation during TO. Twelve Clemson University undergraduate students participated in both the DLS and TO conditions. Similar to previous research, participants judged smaller apertures as passable in the TO condition compared to the DLS condition. Results showed that participants' reproductions of aperture sizes were overestimated, which likely leads to the overestimation of robot passability during TO. Participant estimations of aperture size and judgments of robot passability help to quantify the differences between direct line of sight and teleoperation conditions and these results will be useful in the training of operators for future teleoperation tasks.