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Haptic control methodologies for telerobotic stair traversal

Horan, B., Najdovski, Z., Nahavandi, S. and Tunstel, E. 2008, Haptic control methodologies for telerobotic stair traversal, The international journal of intelligent control and systems, vol. 13, no. 1, pp. 3-14.


Title Haptic control methodologies for telerobotic stair traversal
Author(s) Horan, B.
Najdovski, Z.
Nahavandi, S.
Tunstel, E.
Journal name The international journal of intelligent control and systems
Volume number 13
Issue number 1
Start page 3
End page 14
Publisher Westing Publishing
Place of publication Fremont, USA
Publication date 2008-03
ISSN 0218-7965
Keyword(s) Haptic teleoperation
stair-climbing
haptic control
stair-climbing
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
Persistent URL http://hdl.handle.net/10536/DRO/DU:30017710

Document type: Journal Article
Collection: School of Engineering and Information Technology
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