Visuo-haptic interface for teleoperation of mobile robot exploration tasks

Mitsou, NC; Velanas, SV; Tzafestas, CS

dc.contributor.author	Mitsou, NC	en
dc.contributor.author	Velanas, SV	en
dc.contributor.author	Tzafestas, CS	en
dc.date.accessioned	2014-03-01T02:44:22Z
dc.date.available	2014-03-01T02:44:22Z
dc.date.issued	2006	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31777
dc.subject	Environment Maps	en
dc.subject	Haptic Device	en
dc.subject	Haptic Feedback	en
dc.subject	Haptic Interface	en
dc.subject	Mobile Robot	en
dc.subject	Real Time	en
dc.subject.other	Mice (computer peripherals)	en
dc.subject.other	Mobile robots	en
dc.subject.other	Navigation	en
dc.subject.other	Remote control	en
dc.subject.other	Reverse osmosis	en
dc.subject.other	Robotics	en
dc.subject.other	Robots	en
dc.subject.other	AND operators	en
dc.subject.other	Comparative evaluations	en
dc.subject.other	Haptic devices	en
dc.subject.other	Haptic feedbacks	en
dc.subject.other	Mobile robot explorations	en
dc.subject.other	Mobile robot teleoperation	en
dc.subject.other	Navigation times	en
dc.subject.other	Polygonal environments	en
dc.subject.other	Remote environments	en
dc.subject.other	Sequential creations	en
dc.subject.other	Tele operations	en
dc.subject.other	Unknown environments	en
dc.subject.other	Visuo-haptic interfaces	en
dc.subject.other	Haptic interfaces	en
dc.title	Visuo-haptic interface for teleoperation of mobile robot exploration tasks	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROMAN.2006.314411	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROMAN.2006.314411	en
heal.identifier.secondary	4107802	en
heal.publicationDate	2006	en
heal.abstract	With the spread of low-cost haptic devices, haptic interfaces appear in many areas in the field of robotics. Recently, haptic devices have been used in the field of mobile robot teleoperation, where mobile robots operate in unknown and dangerous environments performing particular tasks. Haptic feedback is shown to improve operator perception of the environment without, however, improving exploration time. In this paper, we present a haptic interface that is used to teleoperate a mobile robot in exploring polygonal environments. The proposed visuo-haptic interface is found to improve navigation time and operator perception of the remote environment. The human-operator can simultaneously select two different commands, the first one being set as ""active"" motion command, while the second one is set as a ""guarded"" motion type of navigation command. The user can feel a haptic equivalent for both types of teleguidance motion commands, and can also observe in real-time the sequential creation of the remote environment map. Comparative evaluation experiments show that the proposed system makes the task of remote navigation of unknown environments easier. © 2006 IEEE.	en
heal.journalName	Proceedings - IEEE International Workshop on Robot and Human Interactive Communication	en
dc.identifier.doi	10.1109/ROMAN.2006.314411	en
dc.identifier.spage	157	en
dc.identifier.epage	163	en