horan-hapticcontrol-2008.pdf (997.25 kB)
Haptic control methodologies for telerobotic stair traversal
journal contribution
posted on 2008-03-01, 00:00 authored by Ben HoranBen Horan, Zoran NajdovskiZoran Najdovski, Saeid Nahavandi, E TunstelTeleoperated 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 systemsVolume
13Issue
1Pagination
3 - 14Publisher
World Scientific PublishingLocation
Singapore, SingaporeISSN
0218-7965Language
engPublication classification
C1 Refereed article in a scholarly journalCopyright notice
2008, World Scientific PublishingUsage metrics
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