'Toy problem' as the benchmark test for teleoperation systems

Authors: Yokokohji Y.; Iida Y.; Yoshikawa T.

Source: Advanced Robotics, Volume 17, Number 3, 2003 , pp. 253-273(21)

Publisher: VSP, an imprint of Brill

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Abstract:

A unified hand/arm master–slave system was developed to conduct dexterous tasks by teleoperation. Both the master and the slave consist of a two-fingered hand and a 3-d.o.f. planer manipulator. The system is also aimed at investigating the bottleneck of autonomous robotic manipulation systems. To evaluate the performance of individual teleoperation systems all over the world under equal conditions, we propose toy block assembling (LEGO® blocks) as the benchmark test for teleoperation systems. Using our hand/arm master-slave system, we announce the measured completion time for assembling some block structures, expecting other research group to try the same task in the future.

Keywords: Teleoperation; master-slave manipulator; multifingered hand; benchmark test; maneuverability; dexterity; bilateral control.

Document Type: Research article

DOI: 10.1163/156855303764018495

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