By Topic

Internet-based teleoperation of a mobile robot with force-reflection

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)

In this paper, a virtual force is generated and fed back to the operator to make the teleoperation more reliable, which reflects the relationship between a slave robot and the uncertain remote environment as a form of the impedance. For the teleoperation, the teleoperated mobile robot takes pictures of the remote environment and sends the visual information back to the operator over the Internet. Because of the limitations of communication bandwidth and narrow view-angles of camera, it is not possible to watch certain regions, for examples, the shadow and curved areas. To overcome this problem, a virtual force is generated according to both the distance between the obstacle and robot and the approaching velocity of the obstacle based on the ultrasonic sensor data. This virtual force is transferred back to the master (two degrees of freedom joystick) over the Internet to enable a human operator to estimate the position of the obstacle at the remote site. By holding this master, in spite of the limited visual information, the operator can feel the spatial sense against the remote environment. It is demonstrated by experiments that this haptic reflection improves the performance of a teleoperated mobile robot significantly.

Published in:

Control Applications, 2003. CCA 2003. Proceedings of 2003 IEEE Conference on  (Volume:1 )

Date of Conference:

23-25 June 2003