Experiments were conducted with a neutral-buoyancy robot to test whether vehicle station keeping and end effector disturbance compensation significantly affect human teleoperation performance. The vehicle used for experiments, called the Submersible for Telerobotic Astronautical Research (STAR) is a free-flying underwater telerobot equipped with a three degree of freedom arm, a stereo pan/tilt camera platform, and a vision-based navigation system. Using visual feedback from a fixed onboard camera, test subject performed a Fitts- type tapping task with the arm while the vision navigator and control system held the vehicle steady relative to a visual reference target. This paper describes the testbed vehicle, experiments, data analysis, and conclusions.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Effects of vehicle station-keeping and end-effector disturbance compensation on neutral-buoyancy teleoperation


    Contributors:

    Conference:

    Telemanipulator Technology and Space Telerobotics ; 1993 ; Boston,MA,United States


    Published in:

    Publication date :

    1993-12-21





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




    Neutral buoyancy craft

    LASKARIS STYLIANOS | European Patent Office | 2015

    Free access

    Buoyancy center compensation device for unmanned underwater vehicle and use method of buoyancy center compensation device

    DUAN YIMING / WU KAIYANG / KE SICHENG | European Patent Office | 2022

    Free access

    Neutral Buoyancy Laboratory Capabilities

    Prince, Angela | NTRS | 2016