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N. Diolaiti, C. Melchiorri
"Obstacle Avoidance for Teleoperated Mobile Robots by means of Haptic Feedback"
 
Type Conference
Author(s) N. Diolaiti, C. Melchiorri
Title Obstacle Avoidance for Teleoperated Mobile Robots by means of Haptic Feedback
Editor ASER 2003 IEEE 1st International Workshop on Advances in Service Robotics
Keywords Haptic feedback, mobile robot, passive teleoperation
Abstract
The development of remotely operated devices is historically motivated by the need to carry out complex operations in potentially hazardous remote environments. The class of telemanipulation systems includes also mobile robots that can be remotely operated to perform particular tasks. As an example, the inspection of underwater structures and the removal of mines are performed by mobile platforms controlled by a remote operator, which generally takes advantage only of the visual feedback provided by vision systems. In this sense, the nature and completeness of the data provided to the operator about the state of the remote system are of crucial importance for proper task execution, and it is generally accepted that a more efficient achievement of the task can be obtained by increasing the number of data feedback and by using proper MMI. In this paper, the use of a haptic interface is proposed in order to increase the user's perception of the workspace of the mobile robot. In particular, a virtual interaction force is computed on the basis of obstacles surrounding the mobile vehicle in order to prevent dangerous contacts, so that navigation tasks can be carried out with generally better performances.
Document 7c45.Document.pdf (374855 bytes)
Year 2003


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