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Fuzzy haptic augmentation for telerobotic stair climbing

Horan, Ben, Nahavandi, Saeid, Creighton, Douglas and Tunstel, E. 2007, Fuzzy haptic augmentation for telerobotic stair climbing, in IEEE International Conference on Systems, Man and Cybernetics, 2007. ISIC., IEEE Xplore, Piscataway, N.J, pp. 2437-2442.

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Title Fuzzy haptic augmentation for telerobotic stair climbing
Author(s) Horan, BenORCID iD for Horan, Ben orcid.org/0000-0002-6723-259X
Nahavandi, SaeidORCID iD for Nahavandi, Saeid orcid.org/0000-0002-0360-5270
Creighton, DouglasORCID iD for Creighton, Douglas orcid.org/0000-0002-9217-1231
Tunstel, E.
Conference name IEEE International Conference on Systems, Man and Cybernetics (2007 : Quebec, Canada)
Conference location Quebec, Canada
Conference dates 7-10 October 2007
Title of proceedings IEEE International Conference on Systems, Man and Cybernetics, 2007. ISIC.
Editor(s) [Unknown]
Publication date 2007
Conference series International Conference on Systems, Man and Cybernetics
Start page 2437
End page 2442
Publisher IEEE Xplore
Place of publication Piscataway, N.J
Summary Teleoperated robotic systems provide a valuable solution for the exploration of hazardous environments. The ability to explore dangerous environments from the safety of a remote location represents an important progression towards the preservation of human safety in the inevitable response to such a threat. While the benefits of removing physical human presence are clear, challenges associated with remote operation of a robotic system need to be addressed. Removing direct human presence from the robot's operating environment introduces telepresence as an important consideration in achieving the desired objective. The introduction of the haptic modality represents one approach towards improving operator performance subject to reduced telepresence. When operating in an urban environment, teleoperative stair climbing is not an uncommon scenario. This work investigates the operation of an articulated track mobile robot designed for ascending stairs under teleoperative control. In order to assist the teleoperator in improved navigational capabilities, a fuzzy expert system is utilised to provide the teleoperator with intelligent haptic augmentation with the aim of improving task performance.
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.
ISBN 1424409918
9781424409914
Language eng
Field of Research 099999 Engineering not elsewhere classified
HERDC Research category E1 Full written paper - refereed
Copyright notice ©2007, IEEE
Free to Read? Yes
Persistent URL http://hdl.handle.net/10536/DRO/DU:30008171

Document type: Conference Paper
Collections: School of Engineering and Information Technology
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Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au.