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Experiments were conducted with a neutral-buoyancy robot to test whether vehicle station keeping and end effector disturbance compensation significantly affect human teleoperation performance. The vehicle used for experiments, called the Submersible for Telerobotic Astronautical Research (STAR) is a free-flying underwater telerobot equipped with a three degree of freedom arm, a stereo pan/tilt camera platform, and a vision-based navigation system. Using visual feedback from a fixed onboard camera, test subject performed a Fitts- type tapping task with the arm while the vision navigator and control system held the vehicle steady relative to a visual reference target. This paper describes the testbed vehicle, experiments, data analysis, and conclusions.

<title>Effects of vehicle station-keeping and end-effector disturbance compensation on neutral-buoyancy teleoperation</title>