Name
Abstract | ||
|---|---|---|
The problem of teleoperating a mobile robot using shared autonomy is addressed: An onboard controller performs close-range 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. A strategy to convert such range information into forces is described, 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 both in virtual and in real environments show that this added haptic feedback significantly improves operator performance, as well as presence, in several ways (reduced collisions, increased minimum distance between the robot and obstacles, etc.) without a significant increase in navigation time. |
Year | DOI | Venue |
|---|---|---|
2005 | 10.1162/105474605323384681 | Presence |
Keywords | Field | DocType |
obstacle-range information,haptic teleoperation,range information,close-range obstacle avoidance,mobile robot,added haptic feedback,haptic probe,user study,front-facing camera,haptic information,operator performance,extensive experiment,obstacle avoidance,haptic feedback | Obstacle avoidance,Teleoperation,Population,Social robot,Computer vision,Robot control,Computer science,Simulation,Artificial intelligence,Robot,Mobile robot,Haptic technology | Journal |
Volume | Issue | ISSN |
14 | 3 | 1054-7460 |
Citations | PageRank | References |
26 | 1.78 | 12 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Sangyoon Lee | 1 | 216 | 38.71 |
| Gaurav S. Sukhatme | 2 | 5469 | 548.13 |
| Gerard Jounghyun Kim | 3 | 571 | 51.97 |
| Chan-mo Park | 4 | 123 | 10.58 |