지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
초록· 키워드
오류제보하기
For safe remote control, information on remote environment has to be delivered to operator realistically, and there have been numerous research efforts on this respect. Among them, haptic technology can significantly enhance safety and overall effectiveness of remote operation by delivering various kinds of information on virtual or real environment to operator. In this study, remote control based on haptic feedback is applied to control of mobile robot moving according to the command from operator avoiding collision with environmental obstacles and maintaining safe distance from them using ultrasonic sensors. Specifically, a remote feedback control structure for mobile robot is proposed. The controller is based on the inner feedback loop that directly utilizes information on distance to obstacles, and the outer feedback loop that the operator directly commands using the haptic device on which the computed reaction force based on the distance information is acting. Effectiveness of the proposed remote control scheme using double feedback loops is verified through a series of experiments on mobile robot.
목차
등록된 정보가 없습니다.
참고문헌 (11)
참고문헌 신청
Q. Lin / 1997 / Virtual tele‐operation of underwater robots / Proceedings of IEEE International Conference on Robotics and Automation
J. P. K. Kim / 2002 / Robotic Contamination Cleaning System / IEEE Conference on Intelligent Robots ans Systems
X. Tang / 2009 / Haptic Interaction in Teleoperation Control System of Construction Robot Based on Virtual Reality / Proceedings of the IEEE International Conference on Mechatronics and Automation
B. Horan / 2008 / Intuitive Haptic Control Surface for Mobile Robot Motion Control / Proceedings of the IEEE International Workshop on Safety, Security and Rescue Robotics
I. Farkhatdinov / 2009 / A User Study of Command Strategies for Mobile Robot Teleoperation / Journal on Intelligent Service Robotics 2(2):95
J. P. K. Kim / 2002 / Robotic Contamination Cleaning System / IEEE Conference on Intelligent Robots ans Systems
X. Tang / 2009 / Haptic Interaction in Teleoperation Control System of Construction Robot Based on Virtual Reality / Proceedings of the IEEE International Conference on Mechatronics and Automation
B. Horan / 2008 / Intuitive Haptic Control Surface for Mobile Robot Motion Control / Proceedings of the IEEE International Workshop on Safety, Security and Rescue Robotics
I. Farkhatdinov / 2009 / A User Study of Command Strategies for Mobile Robot Teleoperation / Journal on Intelligent Service Robotics 2(2):95
이 논문의 저자 정보
최근 본 자료
댓글(0)
0