Analysis of operation strategy in a multi-operator control system for four-arm disaster response robot OCTOPUS

Kui Chen, Mitsuhiro Kamezaki, Takahiro Katano, Tatsuzo Ishida, Masatoshi Seki, Ken Ichiryu, Shigeki Sugano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

Disaster response robot with four arms and flippers OCTOPUS has high mobility and task-execution capabilities. Owing to the higher number of degrees of freedom, OCTOPUS is controlled by two operators, however this kind of robots is inherently difficult to be operated. To design easy-to-use human machine interfaces and intelligent control systems, we need to analyze and quantify a reasonable operation strategy in multi-operator control systems. Thus, three different types of essential disaster response tasks were conducted by using OCTOPUS and we analyzed results of operations and work performance, by focusing on each operator and each pair. As the results, we derived basic operation strategies as follow; operators with higher number of simultaneously-operated joints (Ns) can control OCTOPUS more smoothly, and pairs with higher rate of cooperated operations (Rc) can finish tasks more efficiently. We also found that Ns and Rc can be used to quantify operational skills. Revealed strategies and parameters could be useful to design new human-machine interface and intelligent control system.

Original languageEnglish
Title of host publicationSII 2016 - 2016 IEEE/SICE International Symposium on System Integration
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages514-519
Number of pages6
ISBN (Electronic)9781509033294
DOIs
Publication statusPublished - 2017 Feb 6
Event2016 IEEE/SICE International Symposium on System Integration, SII 2016 - Sapporo, Japan
Duration: 2016 Dec 132016 Dec 15

Other

Other2016 IEEE/SICE International Symposium on System Integration, SII 2016
CountryJapan
CitySapporo
Period16/12/1316/12/15

ASJC Scopus subject areas

  • Biomedical Engineering
  • Control and Systems Engineering
  • Mechanical Engineering
  • Artificial Intelligence
  • Hardware and Architecture
  • Control and Optimization

Fingerprint Dive into the research topics of 'Analysis of operation strategy in a multi-operator control system for four-arm disaster response robot OCTOPUS'. Together they form a unique fingerprint.

  • Cite this

    Chen, K., Kamezaki, M., Katano, T., Ishida, T., Seki, M., Ichiryu, K., & Sugano, S. (2017). Analysis of operation strategy in a multi-operator control system for four-arm disaster response robot OCTOPUS. In SII 2016 - 2016 IEEE/SICE International Symposium on System Integration (pp. 514-519). [7844050] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2016.7844050