Reasons for singularity in robot teleoperation

Publikation: Bidrag til bog/antologi/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

Resumé

In this paper, the causes for singularity of a robot arm in teleoperation for robot learning from demonstration are analyzed. Singularity is the alignment of robot joints, which prevents the configuration of the inverse kinematics. Inspired by users' own hypotheses, we investigated speed and delay as possible causes. The results show that delay causes problems during teleoperation though not in direct control with a control panel because users expect a different, more intuitive control in teleoperation. Speed on the other hand was not found to have an effect on the occurrence of singularity.

OriginalsprogEngelsk
TitelHRI '14 Proceedings of the 2014 ACM/IEEE international conference on Human-robot interaction
Antal sider2
ForlagIEEE Press
Publikationsdato2014
Sider242-243
ISBN (Trykt)978-1-4503-2658-2
DOI
StatusUdgivet - 2014
Begivenhed2014 ACM/IEEE International Conference on Human Robot Interaction - Bielefeld, Tyskland
Varighed: 3. mar. 20146. mar. 2014

Konference

Konference2014 ACM/IEEE International Conference on Human Robot Interaction
LandTyskland
ByBielefeld
Periode03/03/201406/03/2014

Fingeraftryk

Remote control
Robots
Robot learning
Inverse kinematics
Demonstrations

Citer dette

Marhenke, I., Fischer, K., & Savarimuthu, T. R. (2014). Reasons for singularity in robot teleoperation. I HRI '14 Proceedings of the 2014 ACM/IEEE international conference on Human-robot interaction (s. 242-243). IEEE Press. https://doi.org/10.1145/2559636.2559828
Marhenke, Ilka ; Fischer, Kerstin ; Savarimuthu, Thiusius Rajeeth. / Reasons for singularity in robot teleoperation. HRI '14 Proceedings of the 2014 ACM/IEEE international conference on Human-robot interaction. IEEE Press, 2014. s. 242-243
@inproceedings{41a7adc3d871496eb80d1b3455874d03,
title = "Reasons for singularity in robot teleoperation",
abstract = "In this paper, the causes for singularity of a robot arm in teleoperation for robot learning from demonstration are analyzed. Singularity is the alignment of robot joints, which prevents the configuration of the inverse kinematics. Inspired by users' own hypotheses, we investigated speed and delay as possible causes. The results show that delay causes problems during teleoperation though not in direct control with a control panel because users expect a different, more intuitive control in teleoperation. Speed on the other hand was not found to have an effect on the occurrence of singularity.",
author = "Ilka Marhenke and Kerstin Fischer and Savarimuthu, {Thiusius Rajeeth}",
note = "Late Breaking Results",
year = "2014",
doi = "10.1145/2559636.2559828",
language = "English",
isbn = "978-1-4503-2658-2",
pages = "242--243",
booktitle = "HRI '14 Proceedings of the 2014 ACM/IEEE international conference on Human-robot interaction",
publisher = "IEEE Press",

}

Marhenke, I, Fischer, K & Savarimuthu, TR 2014, Reasons for singularity in robot teleoperation. i HRI '14 Proceedings of the 2014 ACM/IEEE international conference on Human-robot interaction. IEEE Press, s. 242-243, 2014 ACM/IEEE International Conference on Human Robot Interaction, Bielefeld, Tyskland, 03/03/2014. https://doi.org/10.1145/2559636.2559828

Reasons for singularity in robot teleoperation. / Marhenke, Ilka; Fischer, Kerstin; Savarimuthu, Thiusius Rajeeth.

HRI '14 Proceedings of the 2014 ACM/IEEE international conference on Human-robot interaction. IEEE Press, 2014. s. 242-243.

Publikation: Bidrag til bog/antologi/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

TY - GEN

T1 - Reasons for singularity in robot teleoperation

AU - Marhenke, Ilka

AU - Fischer, Kerstin

AU - Savarimuthu, Thiusius Rajeeth

N1 - Late Breaking Results

PY - 2014

Y1 - 2014

N2 - In this paper, the causes for singularity of a robot arm in teleoperation for robot learning from demonstration are analyzed. Singularity is the alignment of robot joints, which prevents the configuration of the inverse kinematics. Inspired by users' own hypotheses, we investigated speed and delay as possible causes. The results show that delay causes problems during teleoperation though not in direct control with a control panel because users expect a different, more intuitive control in teleoperation. Speed on the other hand was not found to have an effect on the occurrence of singularity.

AB - In this paper, the causes for singularity of a robot arm in teleoperation for robot learning from demonstration are analyzed. Singularity is the alignment of robot joints, which prevents the configuration of the inverse kinematics. Inspired by users' own hypotheses, we investigated speed and delay as possible causes. The results show that delay causes problems during teleoperation though not in direct control with a control panel because users expect a different, more intuitive control in teleoperation. Speed on the other hand was not found to have an effect on the occurrence of singularity.

UR - http://www.scopus.com/inward/record.url?scp=84897004499&partnerID=8YFLogxK

U2 - 10.1145/2559636.2559828

DO - 10.1145/2559636.2559828

M3 - Article in proceedings

SN - 978-1-4503-2658-2

SP - 242

EP - 243

BT - HRI '14 Proceedings of the 2014 ACM/IEEE international conference on Human-robot interaction

PB - IEEE Press

ER -

Marhenke I, Fischer K, Savarimuthu TR. Reasons for singularity in robot teleoperation. I HRI '14 Proceedings of the 2014 ACM/IEEE international conference on Human-robot interaction. IEEE Press. 2014. s. 242-243 https://doi.org/10.1145/2559636.2559828