Haptic control of a mobile robot: A user study
Identifieur interne : 000F92 ( PascalFrancis/Checkpoint ); précédent : 000F91; suivant : 000F93Haptic 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 :
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- topic : Robotique.
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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.
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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></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><inist><standard h6="B"><pA><fA08 i1="01" i2="1" l="ENG"><s1>Haptic control of a mobile robot: A user study</s1></fA08><fA09 i1="01" i2="1" l="ENG"><s1>2002 IEEE/RSJ international conference on intelligent robots and systems : Lausanne, 30 September - 4 October 2002</s1></fA09><fA11 i1="01" i2="1"><s1>LEE (Sangyoon)</s1></fA11><fA11 i1="02" i2="1"><s1>SUKHATME (Gaurav S.)</s1></fA11><fA11 i1="03" i2="1"><s1>JOUNGHYUN KIM (Gerard)</s1></fA11><fA11 i1="04" i2="1"><s1>PARK (Chan-Mo)</s1></fA11><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></fA14><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></fA14><fA18 i1="01" i2="1"><s1>IEEE Robotics and Automation Society</s1><s3>USA</s3><s9>patr.</s9></fA18><fA18 i1="02" i2="1"><s1>IEEE Industrial Elelctronics Society</s1><s3>USA</s3><s9>patr.</s9></fA18><fA18 i1="03" i2="1"><s1>Robotics Society of Japan</s1><s3>JPN</s3><s9>patr.</s9></fA18><fA18 i1="04" i2="1"><s1>Society of Instruments and Control Engineers</s1><s3>INC</s3><s9>patr.</s9></fA18><fA18 i1="05" i2="1"><s1>INRIA Rhône-Alpes</s1><s2>Grenoble</s2><s3>FRA</s3><s9>patr.</s9></fA18><fA18 i1="06" i2="1"><s1>EPFL</s1><s2>Lausanne</s2><s3>CHE</s3><s9>patr.</s9></fA18><fA20><s1>2867-2874</s1></fA20><fA21><s1>2002</s1></fA21><fA23 i1="01"><s0>ENG</s0></fA23><fA25 i1="01"><s1>IEEE</s1><s2>Piscataway NJ</s2></fA25><fA26 i1="01"><s0>0-7803-7398-7</s0></fA26><fA30 i1="01" i2="1" l="ENG"><s1>IROS 2002 : international conference on intelligent robots and systems</s1><s3>Lausanne CHE</s3><s4>2002-09-30</s4></fA30><fA43 i1="01"><s1>INIST</s1><s2>Y 37951</s2><s5>354000117764174670</s5></fA43><fA44><s0>0000</s0><s1>© 2004 INIST-CNRS. 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