Haptic control of a mobile robot: A user study
Identifieur interne : 007932 ( Main/Merge ); précédent : 007931; suivant : 007933Haptic control of a mobile robot: A user study
Auteurs : Sangyoon Lee [Corée du Sud] ; Gaurav S. Sukhatme [États-Unis] ; Gerard Jounghyun Kim [Corée du Sud] ; Chan-Mo Park [Corée du Sud]Source :
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Robotique.
English descriptors
- KwdEn :
Abstract
We address the problem of teleoperating a mobile robot using shared autonomy: an on-board controller performs obstacle avoidance while the operator uses the manipulandum of a haptic probe to designate the desired speed and rate of turn. Sensors on the robot are used to measure obstacle range information. We describe a strategy to convert such range information into forces, which are reflected to the operator's hand, via the haptic probe. This haptic information provides feedback to the operator in addition to imagery from a front-facing camera mounted on the mobile robot. Extensive experiments with a user population show that the added haptic feedback significantly improves operator performance in several ways (reduced collisions, increased minimum distance between the robot and obstacles) without a significant increase in navigation time.
Links toward previous steps (curation, corpus...)
- to stream PascalFrancis, to step Corpus: 001070
- to stream PascalFrancis, to step Curation: 000439
- to stream PascalFrancis, to step Checkpoint: 000F92
Links to Exploration step
Pascal:04-0193965Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Haptic control of a mobile robot: A user study</title>
<author><name sortKey="Lee, Sangyoon" sort="Lee, Sangyoon" uniqKey="Lee S" first="Sangyoon" last="Lee">Sangyoon Lee</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Virtual Reality Laboratory, Dept. of Computer Science & Engineering, Pohang University of Science and Technology(POSTECH)</s1>
<s2>Pohang, Kyoungbuk, 790-784</s2>
<s3>KOR</s3>
<sZ>1 aut.</sZ>
<sZ>3 aut.</sZ>
<sZ>4 aut.</sZ>
</inist:fA14>
<country>Corée du Sud</country>
<wicri:noRegion>Pohang, Kyoungbuk, 790-784</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Sukhatme, Gaurav S" sort="Sukhatme, Gaurav S" uniqKey="Sukhatme G" first="Gaurav S." last="Sukhatme">Gaurav S. Sukhatme</name>
<affiliation wicri:level="4"><inist:fA14 i1="02"><s1>Robotic Embedded Systems Laboratory, Dept. of Computer Science, University of Southern California</s1>
<s2>Los Angeles, CA 90089-0781</s2>
<s3>USA</s3>
<sZ>2 aut.</sZ>
</inist:fA14>
<country>États-Unis</country>
<placeName><region type="state">Californie</region>
</placeName>
<orgName type="university">Université de Californie du Sud</orgName>
</affiliation>
</author>
<author><name sortKey="Jounghyun Kim, Gerard" sort="Jounghyun Kim, Gerard" uniqKey="Jounghyun Kim G" first="Gerard" last="Jounghyun Kim">Gerard Jounghyun Kim</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Virtual Reality Laboratory, Dept. of Computer Science & Engineering, Pohang University of Science and Technology(POSTECH)</s1>
<s2>Pohang, Kyoungbuk, 790-784</s2>
<s3>KOR</s3>
<sZ>1 aut.</sZ>
<sZ>3 aut.</sZ>
<sZ>4 aut.</sZ>
</inist:fA14>
<country>Corée du Sud</country>
<wicri:noRegion>Pohang, Kyoungbuk, 790-784</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Park, Chan Mo" sort="Park, Chan Mo" uniqKey="Park C" first="Chan-Mo" last="Park">Chan-Mo Park</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Virtual Reality Laboratory, Dept. of Computer Science & Engineering, Pohang University of Science and Technology(POSTECH)</s1>
<s2>Pohang, Kyoungbuk, 790-784</s2>
<s3>KOR</s3>
<sZ>1 aut.</sZ>
<sZ>3 aut.</sZ>
<sZ>4 aut.</sZ>
</inist:fA14>
<country>Corée du Sud</country>
<wicri:noRegion>Pohang, Kyoungbuk, 790-784</wicri:noRegion>
</affiliation>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">INIST</idno>
<idno type="inist">04-0193965</idno>
<date when="2002">2002</date>
<idno type="stanalyst">PASCAL 04-0193965 INIST</idno>
<idno type="RBID">Pascal:04-0193965</idno>
<idno type="wicri:Area/PascalFrancis/Corpus">001070</idno>
<idno type="wicri:Area/PascalFrancis/Curation">000439</idno>
<idno type="wicri:Area/PascalFrancis/Checkpoint">000F92</idno>
<idno type="wicri:Area/Main/Merge">007932</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Haptic control of a mobile robot: A user study</title>
<author><name sortKey="Lee, Sangyoon" sort="Lee, Sangyoon" uniqKey="Lee S" first="Sangyoon" last="Lee">Sangyoon Lee</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Virtual Reality Laboratory, Dept. of Computer Science & Engineering, Pohang University of Science and Technology(POSTECH)</s1>
<s2>Pohang, Kyoungbuk, 790-784</s2>
<s3>KOR</s3>
<sZ>1 aut.</sZ>
<sZ>3 aut.</sZ>
<sZ>4 aut.</sZ>
</inist:fA14>
<country>Corée du Sud</country>
<wicri:noRegion>Pohang, Kyoungbuk, 790-784</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Sukhatme, Gaurav S" sort="Sukhatme, Gaurav S" uniqKey="Sukhatme G" first="Gaurav S." last="Sukhatme">Gaurav S. Sukhatme</name>
<affiliation wicri:level="4"><inist:fA14 i1="02"><s1>Robotic Embedded Systems Laboratory, Dept. of Computer Science, University of Southern California</s1>
<s2>Los Angeles, CA 90089-0781</s2>
<s3>USA</s3>
<sZ>2 aut.</sZ>
</inist:fA14>
<country>États-Unis</country>
<placeName><region type="state">Californie</region>
</placeName>
<orgName type="university">Université de Californie du Sud</orgName>
</affiliation>
</author>
<author><name sortKey="Jounghyun Kim, Gerard" sort="Jounghyun Kim, Gerard" uniqKey="Jounghyun Kim G" first="Gerard" last="Jounghyun Kim">Gerard Jounghyun Kim</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Virtual Reality Laboratory, Dept. of Computer Science & Engineering, Pohang University of Science and Technology(POSTECH)</s1>
<s2>Pohang, Kyoungbuk, 790-784</s2>
<s3>KOR</s3>
<sZ>1 aut.</sZ>
<sZ>3 aut.</sZ>
<sZ>4 aut.</sZ>
</inist:fA14>
<country>Corée du Sud</country>
<wicri:noRegion>Pohang, Kyoungbuk, 790-784</wicri:noRegion>
</affiliation>
</author>
<author><name sortKey="Park, Chan Mo" sort="Park, Chan Mo" uniqKey="Park C" first="Chan-Mo" last="Park">Chan-Mo Park</name>
<affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Virtual Reality Laboratory, Dept. of Computer Science & Engineering, Pohang University of Science and Technology(POSTECH)</s1>
<s2>Pohang, Kyoungbuk, 790-784</s2>
<s3>KOR</s3>
<sZ>1 aut.</sZ>
<sZ>3 aut.</sZ>
<sZ>4 aut.</sZ>
</inist:fA14>
<country>Corée du Sud</country>
<wicri:noRegion>Pohang, Kyoungbuk, 790-784</wicri:noRegion>
</affiliation>
</author>
</analytic>
</biblStruct>
</sourceDesc>
</fileDesc>
<profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Camera</term>
<term>Collision avoidance</term>
<term>Feedback</term>
<term>Feedback regulation</term>
<term>Hand</term>
<term>Increase</term>
<term>Information measure</term>
<term>Information use</term>
<term>Integrated circuit</term>
<term>Interconnection</term>
<term>Measurement sensor</term>
<term>Minimal distance</term>
<term>Moving robot</term>
<term>Obstacle</term>
<term>Robotics</term>
<term>Tactile sensitivity</term>
</keywords>
<keywords scheme="Pascal" xml:lang="fr"><term>Robot mobile</term>
<term>Capteur mesure</term>
<term>Robotique</term>
<term>Utilisation information</term>
<term>Mesure information</term>
<term>Circuit intégré</term>
<term>Interconnexion</term>
<term>Boucle réaction</term>
<term>Rétroaction</term>
<term>Sensibilité tactile</term>
<term>Prévention esquive collision</term>
<term>Obstacle</term>
<term>Main</term>
<term>Appareil photographique</term>
<term>Distance minimale</term>
<term>Augmentation</term>
</keywords>
<keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Robotique</term>
</keywords>
</textClass>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en">We address the problem of teleoperating a mobile robot using shared autonomy: an on-board controller performs obstacle avoidance while the operator uses the manipulandum of a haptic probe to designate the desired speed and rate of turn. Sensors on the robot are used to measure obstacle range information. We describe a strategy to convert such range information into forces, which are reflected to the operator's hand, via the haptic probe. This haptic information provides feedback to the operator in addition to imagery from a front-facing camera mounted on the mobile robot. Extensive experiments with a user population show that the added haptic feedback significantly improves operator performance in several ways (reduced collisions, increased minimum distance between the robot and obstacles) without a significant increase in navigation time.</div>
</front>
</TEI>
<affiliations><list><country><li>Corée du Sud</li>
<li>États-Unis</li>
</country>
<region><li>Californie</li>
</region>
<orgName><li>Université de Californie du Sud</li>
</orgName>
</list>
<tree><country name="Corée du Sud"><noRegion><name sortKey="Lee, Sangyoon" sort="Lee, Sangyoon" uniqKey="Lee S" first="Sangyoon" last="Lee">Sangyoon Lee</name>
</noRegion>
<name sortKey="Jounghyun Kim, Gerard" sort="Jounghyun Kim, Gerard" uniqKey="Jounghyun Kim G" first="Gerard" last="Jounghyun Kim">Gerard Jounghyun Kim</name>
<name sortKey="Park, Chan Mo" sort="Park, Chan Mo" uniqKey="Park C" first="Chan-Mo" last="Park">Chan-Mo Park</name>
</country>
<country name="États-Unis"><region name="Californie"><name sortKey="Sukhatme, Gaurav S" sort="Sukhatme, Gaurav S" uniqKey="Sukhatme G" first="Gaurav S." last="Sukhatme">Gaurav S. Sukhatme</name>
</region>
</country>
</tree>
</affiliations>
</record>
Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Merge
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 007932 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Merge/biblio.hfd -nk 007932 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien |wiki= Ticri/CIDE |area= HapticV1 |flux= Main |étape= Merge |type= RBID |clé= Pascal:04-0193965 |texte= Haptic control of a mobile robot: A user study }}
![]() | This area was generated with Dilib version V0.6.23. | ![]() |