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Bilateral haptic teleoperation of an articulated track mobile robot

Horan, Ben, Creighton, Douglas, Nahavandi, Saeid and Jamshidi, Mo 2007, Bilateral haptic teleoperation of an articulated track mobile robot, in IEEE International Conference on System of Systems Engineering, 2007. SoSE '07., IEEE Xplore, Piscataway, N.J, pp. 1-8.

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Title Bilateral haptic teleoperation of an articulated track mobile robot
Author(s) Horan, BenORCID iD for Horan, Ben orcid.org/0000-0002-6723-259X
Creighton, Douglas
Nahavandi, Saeid
Jamshidi, Mo
Conference name International Conference on System of Systems Engineering (ICSoSe 2007) (2007 : San Antonio, Texas)
Conference location San Antonio, Texas
Conference dates April 16-18 2007
Title of proceedings IEEE International Conference on System of Systems Engineering, 2007. SoSE '07.
Editor(s) [Unknown]
Publication date 2007
Conference series International Conference on System of Systems Engineering
Start page 1
End page 8
Publisher IEEE Xplore
Place of publication Piscataway, N.J
Summary 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.
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 1424411602
9781424411603
Language eng
Field of Research 099999 Engineering not elsewhere classified
HERDC Research category E1 Full written paper - refereed
Copyright notice ©2007, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30008189

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.