nahavandi-bilateral-2007.pdf (1.89 MB)
Bilateral haptic teleoperation of an articulated track mobile robot
conference contribution
posted on 2007-01-01, 00:00 authored by Ben HoranBen Horan, Douglas CreightonDouglas Creighton, Saeid Nahavandi, M JamshidiTeleoperation has been used in many applications, allowing a human operator to remotely control a robotic system in order to perform a particular task. Recently haptic teleoperation has focused mainly on improving performance in remote manipulation tasks, however the haptic approach offers similar advantages for teleoperative control of the motion of a mobile robot. This paper describes a prototype system designed to facilitate haptic teleoperation of an all-terrain, articulated track mobile robot. This system utilizes a multi-modal user interface intended to improve operator immersion, reduce operator overload and improve teleoperative task performance. The system architecture facilitates implementation of an application-specific haptic augmentation algorithm in order to improve operator performance in challenging real-world tasks. The contributions of this work can be categorized as the custom mobile platform, teleoperator interface and haptic augmentation strategy.
History
Event
International Conference on System of Systems Engineering (ICSoSe 2007) (2007 : San Antonio, Texas)Pagination
1 - 8Publisher
IEEE XploreLocation
San Antonio, TexasPlace of publication
Piscataway, N.JStart date
2007-04-16End date
2007-04-18ISBN-13
9781424411603ISBN-10
1424411602Language
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
IEEE International Conference on System of Systems Engineering, 2007. SoSE '07.Usage metrics
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