Seite - 59 - in Proceedings of the OAGM&ARW Joint Workshop - Vision, Automation and Robotics
Bild der Seite - 59 -
Text der Seite - 59 -
Fig. 3. Mapping results a) small indoor rooms b) disrupted map in a big open area at ELROB 2016
Fig. 4. Xbox Controller for operating the robot
buttons are used for steering the robot. The following table II
shows which of them are implemented for which function.
TABLE II
XBOX BUTTON CONFIGURATION
Button Function
Left joystick (up/down) Drive (forward/backward)
Left joystick (left/right) Rotate (left/right)
Right joystick (up/down) Height-adjustment rubber tracks (up/down)
Right bumper Release button
Left bumper Turbo button
Due to safety reasons the enable button have to be pressed
all time for steering the robot by the joystick. Speed can be
controlled depending on how strong the stick gets pushed.
That means if the joystick gets only half pushed, the robot
will also drive with half the speed. Alternatively, the left
bumper can be used for enable the robot’s full speed mode.
In this mode, Robbie drives with around 5km/h full speed.
As mentioned before, it is possible to overcome obstacles by adjusting the robot’s rubber tracks up or down. This is done
by moving the right joystick up or down respectively. Safety
state is achieved when all buttons are not pressed.
IV. RESULTS AND DISCUSSION
Compared to the keyboard variant, the Xbox controller
is the better decision for operating the robot in all ELROB
challenges. The results of both variants compared are shown
in Table III. While the Xbox controller obtains mostly
excellent results, the keyboard is improvable in most criteria.
Since all buttons of the keyboard are closely packed together,
steering the robot becomes more complex. Moreover delay
times of the sent commands were detected during tests with
the keyboard, which also effects sensitivity and accuracy
of steering the robot. Additionally, increasing speed by the
keyboard needs to push and hold one ”drive-button” and
push the ”speed-up-button” at the same time. In contrast,
the Xbox controller varies speed by inclining the joystick,
which results to more sensitivity and accuracy.
TABLE III
EVALUATION OF BOTH STEERING VARIANTS (+ ... EXCELLENT,∼ ...
AVERAGE,• ... BAD)
Evaluation Criteria Keyboard Xbox Controller
Handling ∼ +
Accuracy • +
Sensitivity • +
Flexibility ∼ ∼
Feasability + +
Safety functions + +
Mainly, there are several aspects coming out of this
development.The tele-operatedoperationwasagreat success
at the ELROB event. While the video stream is slightly
delayed due to transfer limitation, the analogue joysticks are
59
Proceedings of the OAGM&ARW Joint Workshop
Vision, Automation and Robotics
- Titel
- Proceedings of the OAGM&ARW Joint Workshop
- Untertitel
- Vision, Automation and Robotics
- Autoren
- Peter M. Roth
- Markus Vincze
- Wilfried Kubinger
- Andreas Müller
- Bernhard Blaschitz
- Svorad Stolc
- Verlag
- Verlag der Technischen Universität Graz
- Ort
- Wien
- Datum
- 2017
- Sprache
- englisch
- Lizenz
- CC BY 4.0
- ISBN
- 978-3-85125-524-9
- Abmessungen
- 21.0 x 29.7 cm
- Seiten
- 188
- Schlagwörter
- Tagungsband
- Kategorien
- International
- Tagungsbände