1998/11/20 by I. Ivanisevic, Ivanisevic, I., V. Lumelsky +1
Computer Science · Engineering · #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #I.2.9 #Robot Manipulation and Learning #Robotic Path Planning Algorithms #Robotics (cs.RO) #Teleoperation and Haptic Systems #cs.AI #cs.RO
paper · pdf · doi:10.48550/arxiv.cs/9811029
Appeared in Proc. IROS, Oct. 1998
arxiv created 1998/11/20 · openalex publication_date 1998/11/20 · arxiv updated 2009/11/30 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper discusses the feasibility of using configuration space (C-space) as a means of visualization and control in operator-guided real-time motion of a robot arm manipulator. The motivation is to improve performance of the human operator in tasks involving the manipulator motion in an environment with obstacles. Unlike some other motion planning tasks, operators are known to make expensive mistakes in such tasks, even in a simpler two-dimensional case. They have difficulty learning better procedures and their performance improves very little with practice. Using an example of a two-dimensional arm manipulator, we show that translating the problem into C-space improves the operator performance rather remarkably, on the order of magnitude compared to the usual work space control. An interface that makes the transfer possible is described, and an example of its use in a virtual environment is shown.