'Toy problem' as the benchmark test for teleoperation systems

Abstract

A uni ed hand/ arm master-slave system was developed to conduct dexterous tasks by teleoperation. Both the master and the slave consist of a two-ngered 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.

Bilateral Teleoperation: Towards Fine Manipulation with Large Time Delay

“…We have considered several design policies such as safety to the operators, compactness and low apparent inertia. For more detail of these design policies, refer to [22]. Figure 2(a) and Fig.2(b) shows the developed hand and Fig.2(c) shows an overview of the unified hand/arm system.…”

“…We propose toy block assembling (LEGO) as the benchmark test for teleoperation systems. Use of LEGO is advantageous in the following points: (i) easy to get, (ii) uniform quality, (iii) comparison to the skill level of human (in this case, children) [22].…”

Guideline for designing haptic master hands based on dynamic Multi-fingered Manipulability

“…As an example of evaluation by the proposed guideline, we will evaluate two-fingered master-slave hands used in [5]. Figure 8 shows four types of design to be evaluated.…”

“…Based on the result of evaluation, we actually redesigned our master-slave hand used in [5]. Figure 14 shows the overview of the redesigned hands.…”

“…Figure 14 shows the overview of the redesigned hands. We then evaluated the maneuverability of the new design by the LEGO benchmark test proposed in [5]. Figure 15 shows snapshots of the evaluation experiment.…”