HapticV1, Main, Exploration, bibRecordById, Pascal:04-0193965

Haptic control of a mobile robot: A user study

Identifieur interne : 007383 ( Main/Exploration ); précédent : 007382; suivant : 007384

Haptic 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 :

RBID : Pascal:04-0193965

Descripteurs français

Pascal (Inist)
- Robot mobile, Capteur mesure, Robotique, Utilisation information, Mesure information, Circuit intégré, Interconnexion, Boucle réaction, Rétroaction, Sensibilité tactile, Prévention esquive collision, Obstacle, Main, Appareil photographique, Distance minimale, Augmentation.
Wicri :
- topic : Robotique.

English descriptors

KwdEn :
- Camera, Collision avoidance, Feedback, Feedback regulation, Hand, Increase, Information measure, Information use, Integrated circuit, Interconnection, Measurement sensor, Minimal distance, Moving robot, Obstacle, Robotics, Tactile sensitivity.

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.

Affiliations:

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
to stream Main, to step Merge: 007932
to stream Main, to step Curation: 007383

Le document en format XML

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<term>Feedback regulation</term>
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<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>
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<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>
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<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>
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<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>
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Serveur d'exploration sur les dispositifs haptiques

Haptic control of a mobile robot: A user study

Haptic control of a mobile robot: A user study

Source :

Descripteurs français

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri