Haptic mobility control for teleoperated rovers
Contribuinte(s) |
[Unknown] |
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Data(s) |
01/01/2010
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Resumo |
Future missions involving human and robotic systems co-resident on the lunar surface may call for rovers to be teleoperated from the safety of pressurized habitats or vehicles. An approach is presented that emphasizes human-level judgment and intuition in the total control of a rover’s mobility actions. This is facilitated through human-robotic haptics interaction. The concept of a haptics cone control surface is presented, which provides a teleoperator with a means to intuitively determine the velocities he/she is commanding to control rover motion. The teleoperator is also provided with real-time, tasks-relevant haptic augmentation indicating suggestive control actions concerning the desired mobility objective. Utility of the approach for teleoperated control of steep terrain traversal is demonstrated in simulation. |
Identificador | |
Idioma(s) |
eng |
Publicador |
National Society of Black Engineers |
Relação |
http://dro.deakin.edu.au/eserv/DU:30031154/horan-hapticmobility-2010.pdf http://dro.deakin.edu.au/eserv/DU:30031154/horan-hapticmobility-evid1-2010.pdf http://dro.deakin.edu.au/eserv/DU:30031154/horan-hapticmobility-evid2-2010.pdf |
Direitos |
2010, National Society of Black Engineers |
Palavras-Chave | #teleoperation #slope traversal #haptic motion control #planetary rovers #haptic augmentation #fuzzy logic |
Tipo |
Conference Paper |