nahavandi-haptically-2007.pdf (1.64 MB)
A haptically enabled low-cost reconnaissance platform for law enforcement
conference contribution
posted on 2007-01-01, 00:00 authored by James MullinsJames Mullins, Ben HoranBen Horan, Michael Fielding, Saeid NahavandiTraditionally, 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 - 6Publisher
IEEE XploreLocation
Rome, ItalyPlace of publication
Piscataway, N.J.Start date
2007-09-27End date
2007-09-29ISBN-13
9781424415694ISBN-10
1424415691Language
engNotes
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 - refereedCopyright notice
2007, IEEETitle of proceedings
SSRR 2007, IEEE International Workshop on : Safety, Security and Rescue Robotics, 2007Usage metrics
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