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nahavandi-haptically-2007.pdf (1.64 MB)

A haptically enabled low-cost reconnaissance platform for law enforcement

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conference contribution
posted on 2007-01-01, 00:00 authored by James MullinsJames Mullins, Ben HoranBen Horan, Michael Fielding, Saeid Nahavandi
Traditionally, the control system of a modern teleoperated mobile robot consists of one or more two-dimensional joysticks placed on a control interface. While this simplistic interface allows an operator to remotely drive the platform, feedback is limited to visual information supplied by on-board cameras. Significant advances in the field of haptics have the potential to meaningfully enhance situational awareness of a remote robot. The focus of this research is the augmentation of Deakin University's OzBot trade MkIV mobile platform to include haptic control methodologies. Utilising the platform's inertial measurement unit, a remote operator has the ability to gain knowledge of the vehicle's operating performance and terrain while supplying a finer level of control to the drive motors. Our development of a generic multi-platform ActiveX allows the easy implementation of haptic force feedback to many computer based robot controllers. Furthermore, development of communication protocols has progressed with Joint Architecture for Unmanned Systems (JAUS) compliance in mind. The haptic force control algorithms are presented along with results highlighting the benefits of haptic operator feedback on the MklV OzBot trade chassis.

History

Event

IEEE International Workshop on Safety, Security and Rescue Robotics (2007: Rome, Italy)

Pagination

1 - 6

Publisher

IEEE Xplore

Location

Rome, Italy

Place of publication

Piscataway, N.J.

Start date

2007-09-27

End date

2007-09-29

ISBN-13

9781424415694

ISBN-10

1424415691

Language

eng

Notes

This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.

Publication classification

E1 Full written paper - refereed

Copyright notice

2007, IEEE

Title of proceedings

SSRR 2007, IEEE International Workshop on : Safety, Security and Rescue Robotics, 2007

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