Comparing dynamic viewpoint control techniques for teleoperated robotic welding in construction

Abstract

Dynamic viewpoints offer effective visual feedback in teleoperation for construction, where tasks often require precise manipulation during frequent viewpoint adjustments. However, the comparative performance of various dynamic viewpoint control techniques remains unclear. This paper investigates the impact of dynamic viewpoint control techniques on task performance and user experience during teleoperation in construction. A user study was conducted in a remote welding-at-height scenario with 20 participants, including experienced welders and university students, to compare five techniques: (1) coupled vision-motion, (2) decoupled vision-motion with hand or head motion-based control, and (3) hybrid vision-motion with manual or automatic switching. Results showed that decoupled vision-motion with head motion-based control outperformed other techniques in task efficiency and user preference. Hybrid vision-motion with manual switching was more effective than decoupled vision-motion in contexts involving occlusions, reducing physical demand and enhancing welding quality. Based on these findings, guidelines are proposed for viewpoint control in teleoperated construction robots.