Effects of Onset Latency and Robot Speed Delays on Mimicry-Control Teleoperation

• Published in: 2020 15th ACM/IEEE International Conference on Human-Robot Interaction (HRI) pp. 519 - 527
• Main Authors: Rakita, Daniel, Mutlu, Bilge, Gleicher, Michael
• Format: Conference Proceeding
• Language: English
• Published: New York, NY, USA ACM 09.03.2020
• Series: ACM Conferences
• Subjects: Computer systems organization > Embedded and cyber-physical systems > Robotics; Computer systems organization > Embedded and cyber-physical systems > Robotics > External interfaces for robotics; Delays; Human-centered computing > Human computer interaction (HCI) > Interaction paradigms; Human-robot interaction; latency analysis; Manipulators; motion retargeting; Organizations; Real-time systems; Robots; Task analysis; Teleoperation; motion retargeting; teleoperation; latency analysis

In this paper, we study the effects of delays in a mimicry-control robot teleoperation interface which involves a user moving their arms to directly show the robot how to move and the robot follows in real time. Unlike prior work considering delays in other teleoperation systems, we consider delays...