Improving teleoperated robot speed using optimization techniques

Current autonomous robots are not sophisticated enough to complete many mobile tasks, so human-in-the-loop control - including teleoperation - remains the only way to accomplish these tasks. However, most teleoperated tasks cannot be performed at a reasonable speed.When evaluating design choices, it is not always clear which designs will yield the greatest speed increase at the lowest cost. This paper introduces a optimization-based approach for evaluating multiple design options that weighs robot speed against costs such as component price and size. An example is presented to illustrate the methodology.