Usability test in different types of control-authority allocations for multi-operator single-robot system OCTOPUS

Kui Chen, Mitsuhiro Kamezaki, Takahiro Katano, Taisei Kaneko, Kohga Azuma, Masatoshi Seki, Ken Ichiryu, Tatsuzo Ishida, Shigeki Sugano

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

Abstract

Four-arm four-flipper disaster response robot called OCTOPUS, which has 26 degrees of freedom (DOF), has been developed to engage in complex disaster response work. OCTOPUS adopts a multi-operator single-robot (MOSR) control system, and two operators manually control the robot. The pattern of control-authority allocation (CAA) for two operators largely affects performance of MOSR systems, so this study conducts usability tests in various CAAs, and derives a reasonable CAA pattern. So far, there are no uniform standard allocation rules for flippers and crawlers in multi-limb robots like OCTOPUS, therefore we specify five CAA patterns for investigation. Three fundamental tasks that whole body of the robot must be cooperatively controlled were conducted to test the usability in each CAA pattern. From the results of analysis, we found that pattern 1, which one operator controls front two arms, flippers, and crawlers, and another operator controls remaining back parts, had best scores for all tasks, as well as pattern 2 had the best distribution of workload between two operators.

Original languageEnglish
Title of host publicationAdvances in Usability and User Experience - Proceedings of the AHFE 2017 International Conference on Usability and User Experience, 2017
PublisherSpringer Verlag
Pages675-685
Number of pages11
Volume607
ISBN (Print)9783319604916
DOIs
Publication statusPublished - 2018
EventAHFE 2017 International Conference on Usability and User Experience, 2017 - Los Angeles, United States
Duration: 2017 Jul 172017 Jul 21

Publication series

NameAdvances in Intelligent Systems and Computing
Volume607
ISSN (Print)2194-5357

Other

OtherAHFE 2017 International Conference on Usability and User Experience, 2017
CountryUnited States
CityLos Angeles
Period17/7/1717/7/21

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Keywords

  • Control authority allocation
  • Human-machine system
  • Multi-operator single-robot system
  • Usability test

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)

Cite this

Chen, K., Kamezaki, M., Katano, T., Kaneko, T., Azuma, K., Seki, M., Ichiryu, K., Ishida, T., & Sugano, S. (2018). Usability test in different types of control-authority allocations for multi-operator single-robot system OCTOPUS. In Advances in Usability and User Experience - Proceedings of the AHFE 2017 International Conference on Usability and User Experience, 2017 (Vol. 607, pp. 675-685). (Advances in Intelligent Systems and Computing; Vol. 607). Springer Verlag. https://doi.org/10.1007/978-3-319-60492-3_64