Bilateral haptic teleoperation of an articulated track mobile robot
Contribuinte(s) |
[Unknown] |
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Data(s) |
01/01/2007
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Resumo |
Teleoperation 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.<br /> |
Identificador | |
Idioma(s) |
eng |
Publicador |
IEEE Xplore |
Relação |
http://dro.deakin.edu.au/eserv/DU:30008189/nahavandi-bilateral-2007.pdf http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=04304221 |
Direitos |
2007, IEEE |
Tipo |
Conference Paper |