Haptic control of a mobile robot: a user study

Lee, Sang Yoon; Sukhatme, Gaurav S.; Kim, G.J.; Park, Chan-Mo

doi:10.1109/irds.2002.1041705

Cited by 64 publications

(11 citation statements)

References 11 publications

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“…Force feedback to the pilot is typically either environmental force [13] or the haptic boundary [1].…”

Section: A State Of the Art Haptic Controlmentioning

confidence: 99%

“…Obstacle avoidance and trajectory guidance control algorithms have been studied for terrestrial wheeled vehicles [5], [6] with force feedback generated by artificial force fields, typically virtual potentials or springdamper models associated with environmental interaction, that provides the user with a haptic sense of the local environment. In 2002 Lee et al [13] provided a user study that indicated that haptic feedback made a significant difference in the performance of a user in navigating through a complex obstacle strewn environment. The problem of force feedback teleoperation of a helicopter has been studied in the Faculty of Aerospace Engineering at Delft University of Technology over the last six years [2], [10], [12], [11].…”

Section: Introductionmentioning

confidence: 99%

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Representation of vehicle dynamics in haptic teleoperation of aerial robots

Hou

Mahony

Schill

2013

2013 IEEE International Conference on Robotics and Automation

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Abstract-This paper considers the question providing effective feedback of vehicle dynamic forces to a pilot in haptic teleoperation of aerial robots. We claim that the usual state-ofthe-art haptic interface, based on research motivated by robotic manipulator slaves and virtual haptic environments, does a poor job of reflecting dynamic forces of a mobile robotic vehicle to the user. This leads us to propose a novel new force feedback user interface for mobile robotic vehicles with dynamics. An analysis of the closed-loop force-displacement transfer functions experienced by the master joystick for the classical and the new approach clearly indicate the advantages of proposed formulation. Both the classical and the proposed approach have been implemented in the teleoperation of a quadrotor vehicle and we present quantitative and cognitive performance data from a user study that corroborates the expected performance advantages.

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“…Force feedback to the pilot is typically either environmental force [13] or the haptic boundary [1].…”

Section: A State Of the Art Haptic Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Representation of vehicle dynamics in haptic teleoperation of aerial robots

Hou

Mahony

Schill

2013

2013 IEEE International Conference on Robotics and Automation

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“…The P block represents the real pilot who produces the force f cm that acts directly on the Omega Device producing the displacement y m of the end-effector. This displacement is then converted, via the car-driving metaphor [11][12][13] (CD block), to a heading rate command used as a reference command, r m , for the aircraft heading rate, r s . The aircraft position (x e ,y e ) and its heading (ψ) are used by the environment block, E, to calculate the feedback signal F OA , based on the relative distance between the aircraft and the obstacles, in order to generate the haptic force for the master side; τ is the communication delay when present.…”

Section: Force-position Bilateral Teleoperationmentioning

confidence: 99%

“…A car-driving metaphor [11][12][13] for direct control of the UAV was employed. According to it, the operator uses the end-effector of the haptic device to designate the desired speed and rate of turn.…”

Section: A the Car-driving Metaphormentioning

confidence: 99%

Admittance-Based Bilateral Teleoperation with Time Delay for an Unmanned Aerial Vehicle involved in an Obstacle Avoidance Task

Alaimo¹,

Pollini

Bülthoff³

2011

AIAA Modeling and Simulation Technologies Conference

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The paper focuses on the implementation of an admittance based control scheme in a bilateral teleoperation set-up for an Unmanned Aerial Vehicle (UAV) under time delay. The goal of this study is to assess and improve the stability characteristics of the bilateral teleoperator. Computer simulations were conducted to evaluate the effectiveness of the admittance-based control scheme. A commercial impedance-like haptic device was chosen to simulate the control stick: the master device. The slave system is constituted by the dynamics of the aircraft under control; in order to maximize the pilot attention on its task, only the lateral aircraft dynamics was considered. A virtual environment was displayed during the experiments to produce the visual cues. In order to evaluate the system, we prepared a control task where the aircraft had to be flown in a virtual urban canyon with buildings placed irregularly (non Manhattan-like) along the desired path by avoiding the collisions with them. A repulsive force field was associated to the obstacles and a force was sent back to the operator through the communication link. A compensator capable of flying autonomously the aircraft through the buildings with satisfactory performance was designed first using linear techniques then the haptic augmentation system was derived from the compensator by splitting it in two parts: the actual haptic cueing for the pilot and the simulated the pilot effort. The latter component was used only for the preliminary assessment of the system and was removed in simulations where a real pilot operated the stick (the master device). Experimental results and analytical motivations as well have shown that a haptic force which is simply proportional to the distance from the obstacles cannot stabilize the system: a relevant anticipatory effect or phase lead (as the derivative effect of standard industrial controllers) is needed. In order to manage the degradation of performance and overall stability when a delay is present in the communication paths, an admittance-based controller was designed together with an observer for the force generated by the human operator on the stick. The admittance-based Force Position teleoperation scheme was shown by simulations and tests with real pilots to improve the performance of the system under consideration

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“…16(3), 463-474 (2015) teleoperation, under-water tasks [9,10], obstacle avoidance through haptic interfaces [11][12][13], and ground robots tasks [14,15]. Moreover, Max Planck Institute (MPI) introduced technical issues to use KAKU Robocoaster for use as a realtime motion simulator [16].…”

Section: Introductionmentioning

confidence: 99%

Development of UAV Teleoperation Virtual Environment Based-on GSM Networks and Real Weather Effects

Abdel-Hamid¹,

Zong²

2015

International Journal of Aeronautical and Space Sciences

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Future Ground Control Stations (GCSs) for Unmanned Aerial Vehicles (UAVs) teleoperation targets better situational awareness by providing extra motion cues to stimulate the vestibular system. This paper proposes a new virtual environment for long range Unmanned Aerial Vehicle (UAV) control via Non-Line-of-Sight (NLoS) communications, which is based on motion platforms. It generates motion cues for the teleoperator for extra sensory stimulation to enhance the guidance performance. The proposed environment employs the distributed component simulation over GSM network as a simulation platform. GSM communications are utilized as a multi-hop communication network, which is similar to global satellite communications. It considers a UAV mathematical model and wind turbulence effects to simulate a realistic UAV dynamics. Moreover, the proposed virtual environment simulates a Multiple Axis Rotating Device (MARD) as Human Machine Interface (HMI) device to provide a complete delay analysis. The demonstrated measurements cover Graphical User Interface (GUI) capabilities, NLoS GSM communications delay, MARD performance, and different software workload. The proposed virtual environment succeeded to provide visual and vestibular feedbacks for teleoperators via GSM networks. The overall system performance is acceptable relative to other Line-of-Sight (LoS) systems, which promises a good potential for future long range, medium altitude UAV teleoperation researches.

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Haptic control of a mobile robot: a user study

Cited by 64 publications

References 11 publications

Representation of vehicle dynamics in haptic teleoperation of aerial robots

Representation of vehicle dynamics in haptic teleoperation of aerial robots

Admittance-Based Bilateral Teleoperation with Time Delay for an Unmanned Aerial Vehicle involved in an Obstacle Avoidance Task

Development of UAV Teleoperation Virtual Environment Based-on GSM Networks and Real Weather Effects

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