Paper Info
Title
Visuo-Haptic Interface for Teleoperation of Mobile Robot Exploration Tasks
Abstract
With the spread of low-cost haptic devices, haptic interfaces appear in many areas in the field of robotics. Recently, haptic devices have been used in the field of mobile robot teleoperation, where mobile robots operate in unknown and dangerous environments performing particular tasks. Haptic feedback is shown to improve operator perception of the environment without, however, improving exploration time. In this paper, we present a haptic interface that is used to teleoperate a mobile robot in exploring polygonal environments. The proposed visuo-haptic interface is found to improve navigation time and operator perception of the remote environment. The human-operator can simultaneously select two different commands, the first one being set as "active" motion command, while the second one is set as a "guarded" motion type of navigation command. The user can feel a haptic equivalent for both types of teleguidance motion commands, and can also observe in real-time the sequential creation of the remote environment map. Comparative evaluation experiments show that the proposed system makes the task of remote navigation of unknown environments easier.
Year
DOI
Venue
2006
10.1109/ROMAN.2006.314411
Hatfield
Keywords
Field
DocType
haptic interfaces,mobile robots,telerobotics,comparative evaluation experiments,haptic feedback,mobile robot exploration tasks,remote navigation,visuo-haptic interface
Teleoperation,Computer vision,Simulation,Computer science,Operator (computer programming),Artificial intelligence,Mobile robot navigation,Telerobotics,Mobile robot,Robotics,Reflection mapping,Haptic technology
Conference
ISBN
Citations 
PageRank 
1-4244-0565-3
8
0.72
References 
Authors
4
3
Name
Order
Citations
PageRank
Nikos C. Mitsou181.06
Spyros V. Velanas280.72
Tzafestas, C.S.3243.56