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Haptic control methodologies for telerobotic stair traversal

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journal contribution
posted on 2008-03-01, 00:00 authored by Ben HoranBen Horan, Zoran NajdovskiZoran Najdovski, Saeid Nahavandi, E Tunstel
Teleoperated mobile robots provide the ability for a human operator to safely explore and evaluate hazardous environments. This ability represents an important progression towards the preservation of human safety in the inevitable response to situations such as terrorist activities and urban search and rescue. The benefits of removing physical human presence from such environments are obvious, however challenges inhibiting task performance when remotely operating a mobile robotic system need to be addressed. The removal of physical human presence from the target environment introduces telepresence as a vital consideration in achieving the desired objective. Introducing haptic human-robotic interaction represents one approach towards improving operator performance in such a scenario. Teleoperative stair traversal proves to be a challenging task when undertaking threat response in an urban environment. This article investigates the teleoperation of an articulated track mobile robot designed for traversing stairs in a threat response scenario. Utilising a haptic medium for bilateral human-robotic interaction, the haptic cone methodology is introduced with the aim of providing the operator with a vision-independent, intuitive indication of the current commanded robot velocity. The haptic cone methodology operates synergistically with the introduced fuzzy-haptic augmentation for improving teleoperator performance in the stair traversal scenario.

History

Journal

International journal of intelligent control and systems

Volume

13

Issue

1

Pagination

3 - 14

Publisher

World Scientific Publishing

Location

Singapore, Singapore

ISSN

0218-7965

Language

eng

Publication classification

C1 Refereed article in a scholarly journal

Copyright notice

2008, World Scientific Publishing

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