Intuitive Haptic Control Surface for Mobile Robot Motion Control
Intuitive Haptic Control Surface for Mobile Robot Motion Control
复制标题
用于移动机器人运动控制的直观触觉控制表面
DOI：
10.1109/ssrr.2008.4745888
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发表时间：
2008
期刊：
影响因子：
--
通讯作者：
Saeid Nahavandi
中科院分区：
文献类型：
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作者：
Ben Horan;Saeid Nahavandi
触觉人机界面和增强人机交互的类似技术比传统方法提供了巨大的潜力。这项工作考虑利用3D虚拟触觉锥实现履带式移动机器人平台的直观运动控制。三维触觉锥通过向触觉控制面引入第三维度，扩展了现有的方法。建议该方法在现有方法的基础上进行改进，为人类操作员提供一种直观的方法来发出车辆运动命令，同时还可以促进针对手头任务的实时触觉增强。所提出的方法是在移动机器人远程操作的背景下考虑的，但是在许多应用中提供了潜力。以二维触觉控制面为基准，对三维触觉锥方法的初步评估表明，该方法在命令机器人停止运动的能力方面有显着提高。
Haptic human-machine interfaces and similar techniques to enhancing human-robotic interaction offer significant potential over conventional approaches. This work considers achieving intuitive motion control of a tracked mobile robotic platform utilising a 3D virtual haptic cone. The 3D haptic cone extends upon existing approaches by introducing of a third dimension to the haptic control surface. It is suggested that this approach improves upon existing methods by providing the human operator with an intuitive method for issuing vehicle motion commands whilst still facilitating simultaneous real-time haptic augmentation regarding the task at hand. The presented approach is considered in the context of mobile robotic teleoperation however offers potential across many applications. Using the 2D haptic control surface as a benchmark, preliminary evaluation of the 3D haptic cone approach demonstrates a significant improvement in the ability to command the robot to cease motion.