Haptic control of a mobile robot: A user study

Sangyoon' Lee, Gaurav S. Sukhatme, Jeonghyun Kim, Chan Mo Park

Research output: Chapter in Book/Report/Conference proceedingConference contribution

87 Citations (Scopus)

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.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages2867-2874
Number of pages8
Volume3
Publication statusPublished - 2002 Jan 1
Externally publishedYes
Event2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland
Duration: 2002 Sep 302002 Oct 4

Other

Other2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountrySwitzerland
CityLausanne
Period02/9/3002/10/4

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ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Lee, S., Sukhatme, G. S., Kim, J., & Park, C. M. (2002). Haptic control of a mobile robot: A user study. In IEEE International Conference on Intelligent Robots and Systems (Vol. 3, pp. 2867-2874)