Some problems raised by bimanual coordination control of articulated systems are studied. In particular, the performance of human operators driving an anthropomorphic robot along 3-D trajectories using either a bimanual micromanipulator or a keypad is compared. The trajectories were materialized in space by a thin wire twisted to trace a cosine wave. The performance was quantified in terms of total time (that is, the time to drive the robot effector through the trajectory), cumulated error, standard deviation and maximum error along the trajectory.
Bimanual micro manipulator for televideo operation of anthropomorphic robots
MAGENES, GIOVANNI
1989-01-01
Abstract
Some problems raised by bimanual coordination control of articulated systems are studied. In particular, the performance of human operators driving an anthropomorphic robot along 3-D trajectories using either a bimanual micromanipulator or a keypad is compared. The trajectories were materialized in space by a thin wire twisted to trace a cosine wave. The performance was quantified in terms of total time (that is, the time to drive the robot effector through the trajectory), cumulated error, standard deviation and maximum error along the trajectory.File in questo prodotto:
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