Sensory requirements and performance assessment of tele-presence controlled robots

摘要

Robots have been most successfully applied in repetitive operations, but often when the task involves complex variable operations in unstructured environments human tele-operation is preferred. This tele-operation has traditionally concentrated on the control of a fixed manipulator with limited visual and audio feedback and perhaps some force reflection. As enhanced video and audio feedback (often stereo) were added to the sensory capabilities of manipulators, the area of tele-presence developed. Increased system flexibility has been added through developments into controlled mobile systems, improved detection of operator motion driven inputs and tactile sensory feedback. This paper considers the systems within the multi-unit tele-presence systems available at Salford. This includes a brief study of the sensory system (visual, audio and tactile) for the single and twin armed robots and the design of the dexterous manipulators. Subsequently the performance in navigation tasks of one of the robots is assessed. This provides data for an evaluation of the effectiveness of and need for sensory feedback systems for tele-presence control.