Effects of Onset Latency and Robot Speed Delays on Mimicry-Control Teleoperation
Effects of Onset Latency and Robot Speed Delays on Mimicry-Control Teleoperation
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DOI：
10.1145/3319502.3374838
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发表时间：
2020-03
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影响因子：
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通讯作者：
D. Rakita;Bilge Mutlu;Michael Gleicher
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作者：
D. Rakita;Bilge Mutlu;Michael Gleicher
在本文中，我们研究了拟态控制机器人远程操作界面中延迟的影响，该界面涉及用户移动手臂以直接向机器人展示如何移动，并且机器人实时跟随。与之前考虑其他远程操作系统中的延迟的工作不同，我们除了考虑运动命令开始时的延迟之外，还考虑由于机器人缓慢而导致的延迟。我们提出了一项人类受试者研究，显示不同数量和类型的延迟如何对任务绩效产生不同的影响。我们比较不同延迟下的运动，以揭示运营商用于适应延迟条件的策略并解释性能差异。我们的结果表明，用户可以快速制定策略来适应缓慢延迟，但不能适应起始延迟延迟。我们讨论了我们的结果对未来开发旨在减轻延误影响的方法的影响。 CCS概念•以人为中心的计算→交互范式； • 计算机系统组织→ 机器人技术。 Acm 参考格式：Acm 参考格式：Daniel Rakita、Bilge Mutlu、Michael Gleicher。 2020。起始延迟和机器人速度延迟对拟态控制遥操作的影响。 2020 年 ACM/IEEE 人机交互国际会议 (HRI’20) 会议记录，2020 年 3 月 23-26 日，英国剑桥。 ACM，美国纽约州纽约市，9 页。 https://doi.org/10.1145/3319502.3374838
In this paper, we study the effects of delays in a mimicry-control robot teleoperation interface which involves a user moving their arms to directly show the robot how to move and the robot follows in real time. Unlike prior work considering delays in other teleoperation systems, we consider delays due to robot slowness in addition to latency in the onset of movement commands. We present a human-subjects study that shows how different amounts and types of delays have different effects on task performance. We compare the movements under different delays to reveal the strategies that operators use to adapt to delay conditions and to explain performance differences. Our results show that users can quickly develop strategies to adapt to slowness delays but not onset latency delays. We discuss the implications of our results for the future development of methods designed to mitigate the effects of delays. CCS CONCEPTS •Human-centered computing → Interaction paradigms; • Computer systems organization → Robotics. Acm Reference Format: Acm Reference Format: Daniel Rakita, Bilge Mutlu, Michael Gleicher. 2020. Effects of Onset Latency and Robot Speed Delays on Mimicry-Control Teleoperation. In Proceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction (HRI’20), March 23–26, 2020, Cambridge, United Kingdom. ACM, New York, NY, USA, 9 pages. https://doi.org/10.1145/3319502.3374838