Title | ||
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On The Evaluation Of Force Feedback Augmented Teleoperation Of Excavator-Like Mobile Manipulators |
Abstract | ||
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This paper reports the results of the investigation on the use of force feedback to assist a human operator in the teleoperation of open-pit mining excavators. The proposed force feedback strategy allows object interactions. Also, it enables the operator to sense attractive forces toward the excavation/deposit site as a guidance system, especially useful in precision mining. The methodology was evaluated with multiple experiments to compare the use of haptic feedback and the guidance system. Moreover, a group of volunteers performed the NASA Task Load Index to measure their efforts to teleoperate an integrated off-the-shelf excavator-like mobile robot using different scenarios. Results showed that the force feedback decreases by 8% the power consumption of the excavator, which can represent a significant cost reduction in real applications. Furthermore, the proposed system proves to be a useful tool to the operator allowing task assistance and safety in interaction with obstacles, which can mitigate up to 70% of the stress on the manipulator when there is direct contact with surfaces, e.g., manipulation of rocks and boulders. |
Year | DOI | Venue |
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2020 | 10.1109/CASE48305.2020.9217029 | 2020 IEEE 16TH INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING (CASE) |
DocType | ISSN | Citations |
Conference | 2161-8070 | 0 |
PageRank | References | Authors |
0.34 | 4 | 10 |
Name | Order | Citations | PageRank |
---|---|---|---|
Lucas Carvalho | 1 | 0 | 0.34 |
Paulo A. F. Rezeck | 2 | 3 | 2.52 |
Matheus V. Lima | 3 | 0 | 0.34 |
Luan Pinto | 4 | 0 | 0.34 |
Gustavo M. Freitas | 5 | 0 | 0.34 |
Erickson R. Do Nascimento | 6 | 265 | 23.10 |
Douglas Guimarães Macharet | 7 | 1 | 2.76 |
Luiz Chaimowicz | 8 | 467 | 47.24 |
Gustavo Pessin | 9 | 164 | 23.10 |
Mario Fernando Montenegro Campos | 10 | 557 | 51.60 |