Haptic control methodologies for telerobotic stair traversal Horan, B., Najdovski, Z., Nahavandi, S. and Tunstel, E. 2008, Haptic control methodologies for telerobotic stair traversal, International journal of intelligent control and systems, vol. 13, no. 1, pp. 3-14. Attached Files Name Description MIMEType Size Downloads horan-hapticcontrol-2008.pdf Published version application/pdf 997.24KB 53 Title Haptic control methodologies for telerobotic stair traversal Author(s) Horan, B. orcid.org/0000-0002-6723-259X Najdovski, Z. orcid.org/0000-0002-8880-8287 Nahavandi, S. Tunstel, E. Journal name International journal of intelligent control and systems Volume number 13 Issue number 1 Start page 3 End page 14 Total pages 12 Publisher World Scientific Publishing Place of publication Singapore, Singapore Publication date 2008-03 ISSN 0218-7965 Keyword(s) haptic teleoperation stair-climbing haptic control Summary Teleoperated mobile robots provide the ability for a human operator to safely explore and evaluate hazardous environments. This ability represents an important progression towards the preservation of human safety in the inevitable response to situations such as terrorist activities and urban search and rescue. The benefits of removing physical human presence from such environments are obvious, however challenges inhibiting task performance when remotely operating a mobile robotic system need to be addressed. The removal of physical human presence from the target environment introduces telepresence as a vital consideration in achieving the desired objective. Introducing haptic human-robotic interaction represents one approach towards improving operator performance in such a scenario. Teleoperative stair traversal proves to be a challenging task when undertaking threat response in an urban environment. This article investigates the teleoperation of an articulated track mobile robot designed for traversing stairs in a threat response scenario. Utilising a haptic medium for bilateral human-robotic interaction, the haptic cone methodology is introduced with the aim of providing the operator with a vision-independent, intuitive indication of the current commanded robot velocity. The haptic cone methodology operates synergistically with the introduced fuzzy-haptic augmentation for improving teleoperator performance in the stair traversal scenario. Language eng Field of Research 090602 Control Systems Socio Economic Objective 810103 Command, Control and Communications HERDC Research category C1 Refereed article in a scholarly journal Copyright notice ©2008, World Scientific Publishing Persistent URL http://hdl.handle.net/10536/DRO/DU:30017710 Document type: Journal Article Collections: School of Engineering and Information Technology Open Access Collection Related Links Link Description Connect to published version (restricted access) Go to link with your DU access privileges     Unless expressly stated otherwise, the copyright for items in DRO is owned by the author, with all rights reserved. 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. Versions Version Filter Type Fri, 14 Aug 2009, 13:56:20 EST Tue, 27 Oct 2009, 10:23:42 EST Mon, 21 Dec 2009, 13:42:22 EST Mon, 21 Dec 2009, 13:43:28 EST Mon, 12 Apr 2010, 11:26:08 EST Thu, 22 Aug 2013, 12:43:32 EST Thu, 29 Aug 2013, 10:37:34 EST Mon, 30 Jun 2014, 13:20:13 EST Mon, 30 Jun 2014, 14:43:30 EST Tue, 01 Jul 2014, 10:24:31 EST Mon, 21 Jul 2014, 09:19:11 EST Wed, 27 Aug 2014, 21:55:43 EST Fri, 17 Oct 2014, 09:39:59 EST Tue, 06 Sep 2016, 12:44:42 EST Filtered Full Citation counts:   Cited 0 times in TR Web of Science Cited 0 times in Scopus Search Google Scholar Access Statistics: 796 Abstract Views, 53 File Downloads  -  Detailed Statistics Created: Fri, 14 Aug 2009, 13:56:20 EST

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.