By Topic

Force feedback stabilization for remote control of an assistive mobile robot

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
$33 $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)
H. Arioui ; IBISC Lab, University of Evry Val d'Essonne, 40 rue du Pelvoux, 91020, France ; L. Temzi ; Ph. Hoppenot

In this paper, we consider a bilateral control of an assistive mobile robot over communication channels with constant/variable time delays. The mobile robot is used for exploring a domestic environment. The main purpose of the present work is to help the human in controlling better the slave robot. In addition, the proposed control scheme improves the operator perception of the remote environment. The human operator can actively control the mobile robot, using its intrinsic sensors, and "feel" the robot's environment. The haptic device is used like a joystick and controls the linear velocity and heading angle of the mobile robot. Many experiments have been performed to validate the proposed control scheme, and to show, in the same time, the importance of the force feedback in such applications and accessibility situations : doorways, obstacle exploration, wall tracking, etc.

Published in:

Proceedings of the 2011 American Control Conference

Date of Conference:

June 29 2011-July 1 2011