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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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.
Field of Research
090602 Control Systems, Robotics and Automation
Socio Economic Objective
880399 Aerospace Transport not elsewhere classified