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Intuitive haptic control surface for mobile robot motion control

Horan, Ben and Nahavandi, Saeid 2008, Intuitive haptic control surface for mobile robot motion control, in SSRR 2008 : Proceedings of the 2008 IEEE International Workshop on Safety, Security and Rescue Robotics, IEEE, Piscataway, N.J., pp. 121-127.

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Title Intuitive haptic control surface for mobile robot motion control
Author(s) Horan, Ben
Nahavandi, Saeid
Conference name IEEE International Workshop on Safety, Security and Rescue Robotics (2008 : Sendai, Japan)
Conference location Sendai, Japan
Conference dates 21-24 October 2008
Title of proceedings SSRR 2008 : Proceedings of the 2008 IEEE International Workshop on Safety, Security and Rescue Robotics
Editor(s) [Unknown]
Publication date 2008
Conference series International Workshop on Safety, Security and Rescue Robotics
Start page 121
End page 127
Publisher IEEE
Place of publication Piscataway, N.J.
Keyword(s) haptic HMI
bilateral haptic robot control
haptic HRI
haptic motion control
Summary Haptic human-machine interfaces and similar techniques to enhancing human-robotic interaction offer significant potential over conventional approaches. This work considers achieving intuitive motion control of a tracked mobile robotic platform utilising a 3D virtual haptic cone. The 3D haptic cone extends upon existing approaches by introducing of a third dimension to the haptic control surface. It is suggested that this approach improves upon existing methods by providing the human operator with an intuitive method for issuing vehicle motion commands whilst still facilitating simultaneous real-time haptic augmentation regarding the task at hand. The presented approach is considered in the context of mobile robotic teleoperation however offers potential across many applications. Using the 2D haptic control surface as a benchmark, preliminary evaluation of the 3D haptic cone approach demonstrates a significant improvement in the ability to command the robot to cease motion.
Notes ©2008 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
ISBN 9781424420322
Language eng
Field of Research 090602 Control Systems
Socio Economic Objective 810103 Command, Control and Communications
HERDC Research category E1 Full written paper - refereed
Copyright notice ©2008, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30018207

Document type: Conference Paper
Collections: School of Engineering and Information Technology
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Created: Fri, 14 Aug 2009, 14:06:01 EST