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.

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Title Haptic mobility control for teleoperated rovers
Author(s) Horan, BenORCID iD for Horan, Ben orcid.org/0000-0002-6723-259X
Nahavandi, SaeidORCID iD for 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
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