Haptic teleoperation of a mobile robot: a user study

Authors:
Sangyoon Lee;Gaurav Sukhatme;Gerard Jounghyun Kim;Chan-Mo Park
Affiliations:
Virtual Reality Laboratory, Department of Computer Science and Engineering, Pohang University of Science and Technology, Pohang, Kyoungbuk, South Korea;Robotic Embedded Systems Laboratory, Department of Computer Science, University of Southern California, Los Angeles, CA;Virtual Reality Laboratory, Department of Computer Science and Engineering, Pohang University of Science and Technology, Pohang, Kyoungbuk, South Korea;Virtual Reality Laboratory, Department of Computer Science and Engineering, Pohang University of Science and Technology, Pohang, Kyoungbuk, South Korea
Venue:
Presence: Teleoperators and Virtual Environments
Year:
2005

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Abstract

The problem of teleoperating a mobile robot using shared autonomy is addressed: An onboard controller performs close-range obstacle avoidance while the operator uses the manipulandum of a haptic probe to designate the desired speed and rate of turn. Sensors on the robot are used to measure obstacle-range information. A strategy to convert such range information into forces is described, which are reflected to the operator's hand via the haptic probe. This haptic information provides feedback to the operator in addition to imagery from a front-facing camera mounted on the mobile robot. Extensive experiments with a user population both in virtual and in real environments show that this added haptic feedback significantly improves operator performance, as well as presence, in several ways (reduced collisions, increased minimum distance between the robot and obstacles, etc.) without a significant increase in navigation time.