Scalability of Robotic Controllers: Speech-Based Robotic Controller Evaluation

Scalability of Robotic Controllers: Speech-Based Robotic Controller Evaluation
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机器人控制器的可扩展性：基于语音的机器人控制器评估

DOI：
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发表时间：
2009
期刊：
影响因子：
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通讯作者：
Christian B. Carstens
Christian B. Carstens
中科院分区：
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文献类型：
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作者：
R. Pettitt;E. Redden;Christian B. Carstens

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摘要：本研究在乔治亚州的Fort Benning进行，重点研究了通过用基于语音的控制取代部分手动控制来减小机器人控制器尺寸的可行性。来自军官候补学校的11名士兵作为参与者。在对iRobot PackBot小型无人地面车辆（SUGV）系统进行操作训练后，每个士兵使用两种控制器条件远程操作SUGV；语音和手动控制的结合，并且只能手动控制。士兵们的任务是驾驶机器人，并使用机械臂执行监视等操作。根据客观性能数据、数据收集者观察结果和士兵问卷回答对控制器类型和可用性进行评估。每个控制器的工作量是通过让士兵在使用每种控制器类型后完成美国国家航空航天局任务负荷指数调查来测量的。基于语音的控制显示出除了减少控制器尺寸之外的潜在好处。它通过允许语音命令来控制机械臂，同时使用手动控制来操纵机器人，从而减少了同时执行多项任务的时间和精力。基于语音的控制系统除了在本研究中提到的，还具有提供其他好处的潜力。
Abstract : This study, which took place at Fort Benning, GA, focused on the feasibility of reducing robotic controller size by replacing some of the manual controls with speech-based controls. Eleven Soldiers from the Officers Candidate School served as participants. After training on the operation of the iRobot PackBot small unmanned ground vehicle (SUGV) system, each Soldier teleoperated the SUGV using two controller conditions; a combination of speech and manual control and manual control only. Soldiers were tasked to drive the robot and to perform operations such as surveillance using the robotic arm. Controller type and usability were evaluated based on objective performance data, data collector observations, and Soldier questionnaire responses. Workload for each controller was measured by having the Soldiers complete the National Aeronautics and Space Administration Task Load Index survey after using each controller type. Speech-based control exhibited the potential for benefits beyond controller size reduction. It decreased time and effort when performing multiple tasks simultaneously by allowing speech commands to be given for control of the robotic arm while at the same time maneuvering the robot using manual controls. The speech-based control system also has the potential to provide other benefits beyond those addressed in this study.