A preliminary experimental study on haptic teleoperation of mobile robot with variable force feedback gain

Farkhatdinov, Ildar; Ryu, Jee-Hwan; An, Jinung

doi:10.1109/haptic.2010.5444649

Cited by 51 publications

(35 citation statements)

References 10 publications

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“…But, it was also shown that feedback force with constant feedback gain degrades the accuracy of mobile robot motion control [5]. In order to improve the accuracy of control while keeping it safe the authors proposed the variable force feedback which help the operator control the robot's position easily near the obstacle without collisions [7]. Here we give a brief explanation of the proposed approach.…”

Section: Overview Of Mobile Robot Teleoperationmentioning

confidence: 99%

“…As a result, it was easy for operator to achieve the control goal. Preliminary experimental prove of effectiveness of variable force feedback gain was presented in [7]. …”

Section: Simulationmentioning

confidence: 99%

“…

Abstract.We analyze the stability of previously proposed mobile robot teleoperation system [7]. Unlike to other approaches human-operator dynamics is included for the stability analysis.

…”

mentioning

confidence: 99%

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Stability Analysis of Mobile Robot Teleoperation with Variable Force Feedback Gain

Farkhatdinov

Ryu

2010

Haptics: Generating and Perceiving Tangible Sensations

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Abstract.We analyze the stability of previously proposed mobile robot teleoperation system [7]. Unlike to other approaches human-operator dynamics is included for the stability analysis. Mobile robot teleoperation systems have two major differences when they are compared with conventional bilateral teleoperators: first, rate mode control is used; second, absence of physical interaction of the robot with the environment (except with the ground). Environmental force feedback based on measured distances to the obstacles is considered in the analyzed teleoperation system. Simulations showed advantages and disadvantages of teleoperation with environmental force feedback. It was shown that the quality of position control of mobile robot during teleoperation with previously proposed variable force feedback gain was better than with conventional approach.

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Section: Overview Of Mobile Robot Teleoperationmentioning

confidence: 99%

“…As a result, it was easy for operator to achieve the control goal. Preliminary experimental prove of effectiveness of variable force feedback gain was presented in [7]. …”

Section: Simulationmentioning

confidence: 99%

See 1 more Smart Citation

Stability Analysis of Mobile Robot Teleoperation with Variable Force Feedback Gain

Farkhatdinov

Ryu

2010

Haptics: Generating and Perceiving Tangible Sensations

Self Cite

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“…In [1], authors have unveiled a theoretical technique of how to stabilize such an application in the presence of a constant delay without real validation. In [9] and [10], authors proposed to take into account not only the distances between the robot and its environment but also the speed of the robot. That improves the quality of motion control.…”

Section: Related Workmentioning

confidence: 99%

Remote control of an assistive robot using force feedback

Nadrag

Lounis

Arioui

et al. 2011

2011 15th International Conference on Advanced Robotics (ICAR)

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Abstract. In this paper, we consider the haptic teleoperation of an assistive mobile robot, used for exploring a domestic environment. The goal of the paper is to help the remote operator to pilot the robot by giving him not only video feedback but also haptic feedback. They are both complementary as they do not require the same kind of attention from the user. The proposed haptic architecture was found to improve operator perception of the remote environment under time delay communication. The humanoperator can control actively the mobile robot, using its intrinsic sensors, and "feel" the slave environment. Experimental results, with a real robot, are performed and analyzed.

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“…To solve this problem it was proposed to consider velocity of the mobile robot together with the distances to the obstacles for force feedback calculation. Later, in [13] a rule for force feedback calculation which considered both velocity of the robot and the distances to the obstacles was proposed.…”

Section: Introductionmentioning

confidence: 99%

Improving mobile robot bilateral teleoperation by introducing variable force feedback gain

Farkhatdinov

Ryu

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper presents new feedback force rendering scheme for the bilateral teleoperation of mobile robot. Previous research indicated that the feedback force based on obstacle range information prevented accurate motion control of the mobile robot since human operator's commands were distorted by the feedback force. To solve this problem, a new force rendering approach with variable feedback gain is proposed. In proposed scheme, force feedback gain is adaptively tuned based on measured distances to the obstacle and time derivatives of the distances. Stability of the proposed bilateral teleoperation architecture was analyzed and the performance is proved by simulations. Results of simulation and experimental study proved that the quality of the mobile robot bilateral teleoperation with variable force feedback gain is significantly better than the conventional approach with constant feedback gain.

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A preliminary experimental study on haptic teleoperation of mobile robot with variable force feedback gain

Cited by 51 publications

References 10 publications

Stability Analysis of Mobile Robot Teleoperation with Variable Force Feedback Gain

Stability Analysis of Mobile Robot Teleoperation with Variable Force Feedback Gain

Remote control of an assistive robot using force feedback

Improving mobile robot bilateral teleoperation by introducing variable force feedback gain

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