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Memorias de investigación
Ponencias en congresos:
Haptic teleoperation of mobile robots for augmentation of operator perception in environments with low-wireless signal
Año:2013
Áreas de investigación
  • Sistema de comunicación,
  • Robots móviles,
  • Telerobots,
  • Teloperación y telepresencia
Datos
Descripción
Wireless teleoperation of field robots for maintenance, inspection and rescue missions is often performed in environments with low wireless connectivity, caused by signal losses from the environment and distance from the wireless transmitters. Various studies from the literature have addressed these problems with time-delay robust control systems and multi-hop wireless relay networks. However, such approaches do not solve the issue of how to present wireless data to the operator to avoid losing control of the robot. Despite the fact that teleoperation for maintenance often already involves haptic devices, no studies look at the possibility of using this existing feedback to aid operators in navigating within areas of variable wireless connectivity. We propose a method to incorporate haptic information into the velocity control of an omnidirectional robot to augment the operator's perception of wireless signal strength in the remote environment. In this paper we introduce a mapping between wireless signal strength from multiple receivers to the force feedback of a 6 Degree of Freedom haptic master and evaluate the proposed approach using experimental data and randomly generated wireless maps
Internacional
Si
Nombre congreso
IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
Tipo de participación
960
Lugar del congreso
Linkoping, Sweden
Revisores
Si
ISBN o ISSN
978-1-4799-0879-0
DOI
10.1109/SSRR.2013.6719329
Fecha inicio congreso
21/10/2013
Fecha fin congreso
26/10/2013
Desde la página
1
Hasta la página
7
Título de las actas
2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
Esta actividad pertenece a memorias de investigación
Participantes
  • Autor: Alexander Owen-Hill (UPM)
  • Autor: Ramviyas Nattanmai Parasuraman (UPM)
  • Autor: Manuel Ferre Perez (UPM)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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