Understanding Control Frames in Multi-Camera Robot Telemanipulation
Understanding Control Frames in Multi-Camera Robot Telemanipulation
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DOI：
10.1109/hri53351.2022.9889543
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发表时间：
2022-03
期刊：
影响因子：
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通讯作者：
Pragathi Praveena;Luis Molina;Yeping Wang;Emmanuel Senft;Bilge Mutlu;Michael Gleicher
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文献类型：
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作者：
Pragathi Praveena;Luis Molina;Yeping Wang;Emmanuel Senft;Bilge Mutlu;Michael Gleicher
在远程操作中，向用户显示远程环境的多个视图可以带来很多好处，尽管这些不同的视图也会带来控制问题。系统必须选择单个固定控制框架，最多与一个视图对齐，或者在视图对齐控制框架之间切换，以牺牲切换成本为代价实现视图对齐控制。在本文中，我们探讨了这些选项之间的权衡。我们研究了在远程操作期间切换用户控制框架以与主动使用的视图对齐的可行性、优点和缺点。我们还探讨了用于切换控制帧的显式和隐式方法的有效性。我们的结果表明，与固定控制框架相比，在多个特定于视图的控制框架之间切换可提供显着的性能提升。我们还根据参与者如何计划他们的动作来发现个人对显式或隐式切换的偏好。我们的研究结果为未来的多摄像头界面提供了具体的设计指南。
In telemanipulation, showing the user multiple views of the remote environment can offer many benefits, although such different views can also create a problem for control. Systems must either choose a single fixed control frame, aligned with at most one of the views or switch between view-aligned control frames, enabling view-aligned control at the expense of switching costs. In this paper, we explore the trade-off between these options. We study the feasibility, benefits, and drawbacks of switching the user's control frame to align with the actively used view during telemanipulation. We additionally explore the effectiveness of explicit and implicit methods for switching control frames. Our results show that switching between multiple view-specific control frames offers significant performance gains compared to a fixed control frame. We also find personal preferences for explicit or implicit switching based on how participants planned their movements. Our findings offer concrete design guidelines for future multi-camera interfaces.