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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IEEE International Conference on System of Systems Engineering, 2007. SoSE '07.
International Conference on System of Systems Engineering
Place of publication
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.
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