Haptic mobility control for teleoperated rovers Horan, Ben, Nahavandi, Saeid and Tunstel, Edward 2010, Haptic mobility control for teleoperated rovers, in NSBE : Proceedings of the 2010 NSBE Aerospace Systems Conference :New Horizons - New Destinations - New Discoveries, National Society of Black Engineers, Alexandria, Va., pp. 197-203. Attached Files Name Description MIMEType Size Downloads Title Haptic mobility control for teleoperated rovers Author(s) Horan, Ben orcid.org/0000-0002-6723-259X Nahavandi, Saeid orcid.org/0000-0002-0360-5270 Tunstel, Edward Conference name National Society of Black Engineers Aerospace Systems Conference (2010 : Los Angeles, United States) Conference location Los Angeles, Calif. Conference dates 5-10 Feb. 2010 Title of proceedings NSBE : Proceedings of the 2010 NSBE Aerospace Systems Conference :New Horizons - New Destinations - New Discoveries Editor(s) [Unknown] Publication date 2010 Conference series National Society of Black Engineers Aerospace Systems Conference Start page 197 End page 203 Total pages 7 Publisher National Society of Black Engineers Place of publication Alexandria, Va. Keyword(s) teleoperation slope traversal haptic motion control planetary rovers haptic augmentation fuzzy logic Summary Future missions involving human and robotic systems co-resident on the lunar surface may call for rovers to be teleoperated from the safety of pressurized habitats or vehicles. An approach is presented that emphasizes human-level judgment and intuition in the total control of a rover’s mobility actions. This is facilitated through human-robotic haptics interaction. The concept of a haptics cone control surface is presented, which provides a teleoperator with a means to intuitively determine the velocities he/she is commanding to control rover motion. The teleoperator is also provided with real-time, tasks-relevant haptic augmentation indicating suggestive control actions concerning the desired mobility objective. Utility of the approach for teleoperated control of steep terrain traversal is demonstrated in simulation. ISBN 9780692007433 Language eng Field of Research 090602 Control Systems, Robotics and Automation Socio Economic Objective 880399 Aerospace Transport not elsewhere classified HERDC Research category E1 Full written paper - refereed HERDC collection year 2010 Copyright notice ©2010, National Society of Black Engineers Persistent URL http://hdl.handle.net/10536/DRO/DU:30031154 Document type: Conference Paper Collections: Centre for Intelligent Systems Research School of Engineering   Unless expressly stated otherwise, the copyright for items in DRO is owned by the author, with all rights reserved. Versions Version Filter Type Fri, 12 Nov 2010, 16:18:23 EST Fri, 12 Nov 2010, 16:19:56 EST Tue, 16 Nov 2010, 11:39:10 EST Tue, 16 Nov 2010, 11:39:54 EST Tue, 16 Nov 2010, 11:40:31 EST Tue, 16 Nov 2010, 11:41:26 EST Tue, 16 Nov 2010, 12:02:18 EST Tue, 16 Nov 2010, 12:04:49 EST Tue, 16 Nov 2010, 12:06:37 EST Tue, 16 Nov 2010, 12:08:17 EST Fri, 16 Mar 2012, 18:21:28 EST Wed, 27 Aug 2014, 22:28:18 EST Thu, 22 Dec 2016, 12:44:22 EST Thu, 22 Dec 2016, 12:45:17 EST Filtered Full Citation counts:   Cited 0 times in TR Web of Science Cited 0 times in Scopus Search Google Scholar Access Statistics: 670 Abstract Views, 10 File Downloads  -  Detailed Statistics Created: Fri, 12 Nov 2010, 16:18:15 EST by Sandra Dunoon

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