nahavandi-fuzzyhaptic-2007.pdf (206.78 kB)
Fuzzy haptic augmentation for telerobotic stair climbing
conference contribution
posted on 2007-01-01, 00:00 authored by Ben HoranBen Horan, Saeid Nahavandi, Douglas CreightonDouglas Creighton, E TunstelTeleoperated robotic systems provide a valuable solution for the exploration of hazardous environments. The ability to explore dangerous environments from the safety of a remote location represents an important progression towards the preservation of human safety in the inevitable response to such a threat. While the benefits of removing physical human presence are clear, challenges associated with remote operation of a robotic system need to be addressed. Removing direct human presence from the robot's operating environment introduces telepresence as an important consideration in achieving the desired objective. The introduction of the haptic modality represents one approach towards improving operator performance subject to reduced telepresence. When operating in an urban environment, teleoperative stair climbing is not an uncommon scenario. This work investigates the operation of an articulated track mobile robot designed for ascending stairs under teleoperative control. In order to assist the teleoperator in improved navigational capabilities, a fuzzy expert system is utilised to provide the teleoperator with intelligent haptic augmentation with the aim of improving task performance.
History
Event
IEEE International Conference on Systems, Man and Cybernetics (2007 : Quebec, Canada)Pagination
2437 - 2442Publisher
IEEE XploreLocation
Quebec, CanadaPlace of publication
Piscataway, N.JStart date
2007-10-07End date
2007-10-10ISBN-13
9781424409914ISBN-10
1424409918Language
engNotes
This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.Publication classification
E1 Full written paper - refereedCopyright notice
2007, IEEETitle of proceedings
IEEE International Conference on Systems, Man and Cybernetics, 2007. ISIC.Usage metrics
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