Haptic teleoperation of mobile robots for augmentation of operator perception in environments with low-wireless signal

Owen-Hill, Alexander; Nattanmai Parasuraman, Ramviyas y Ferre Pérez, Manuel (2013). Haptic teleoperation of mobile robots for augmentation of operator perception in environments with low-wireless signal. En: "2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)", 21/10/2013 - 26/10/2013, Linkoping, Sweden. ISBN 978-1-4799-0880-6. pp. 1-7. https://doi.org/10.1109/SSRR.2013.6719329.

Descripción

Título: Haptic teleoperation of mobile robots for augmentation of operator perception in environments with low-wireless signal
Autor/es:
  • Owen-Hill, Alexander
  • Nattanmai Parasuraman, Ramviyas
  • Ferre Pérez, Manuel
Tipo de Documento: Ponencia en Congreso o Jornada (Artículo)
Título del Evento: 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
Fechas del Evento: 21/10/2013 - 26/10/2013
Lugar del Evento: Linkoping, Sweden
Título del Libro: 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
Fecha: 2013
ISBN: 978-1-4799-0880-6
Materias:
Escuela: E.T.S.I. Industriales (UPM)
Departamento: Otro
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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Resumen

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 operators 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

Más información

ID de Registro: 30881
Identificador DC: http://oa.upm.es/30881/
Identificador OAI: oai:oa.upm.es:30881
Identificador DOI: 10.1109/SSRR.2013.6719329
URL Oficial: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6719329&isnumber=6719314
Depositado por: Memoria Investigacion
Depositado el: 28 Oct 2014 17:45
Ultima Modificación: 22 Feb 2017 17:56
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