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A haptically enabled low-cost reconnaissance platform for law enforcement

Mullins, James, Horan, Ben, Fielding, Michael and Nahavandi, Saeid 2007, A haptically enabled low-cost reconnaissance platform for law enforcement, in SSRR 2007, IEEE International Workshop on : Safety, Security and Rescue Robotics, 2007, IEEE Xplore, Piscataway, N.J., pp. 1-6.

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Title A haptically enabled low-cost reconnaissance platform for law enforcement
Author(s) Mullins, James
Horan, Ben
Fielding, Michael
Nahavandi, Saeid
Conference name IEEE International Workshop on Safety, Security and Rescue Robotics (2007: Rome, Italy)
Conference location Rome, Italy
Conference dates 27-29 September 2007
Title of proceedings SSRR 2007, IEEE International Workshop on : Safety, Security and Rescue Robotics, 2007
Editor(s) [Unknown]
Publication date 2007
Conference series International Workshop on Safety, Security and Rescue Robotics
Start page 1
End page 6
Publisher IEEE Xplore
Place of publication Piscataway, N.J.
Keyword(s) ActiveX
haptic
JAUS
OzBot
mobile robot
Summary Traditionally, the control system of a modern teleoperated mobile robot consists of one or more two-dimensional joysticks placed on a control interface. While this simplistic interface allows an operator to remotely drive the platform, feedback is limited to visual information supplied by on-board cameras. Significant advances in the field of haptics have the potential to meaningfully enhance situational awareness of a remote robot. The focus of this research is the augmentation of Deakin University's OzBot trade MkIV mobile platform to include haptic control methodologies. Utilising the platform's inertial measurement unit, a remote operator has the ability to gain knowledge of the vehicle's operating performance and terrain while supplying a finer level of control to the drive motors. Our development of a generic multi-platform ActiveX allows the easy implementation of haptic force feedback to many computer based robot controllers. Furthermore, development of communication protocols has progressed with Joint Architecture for Unmanned Systems (JAUS) compliance in mind. The haptic force control algorithms are presented along with results highlighting the benefits of haptic operator feedback on the MklV OzBot trade chassis.
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 9781424415694
1424415691
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:30008195

Document type: Conference Paper
Collections: School of Engineering and Information Technology
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