NDLI: Internet-based teleoperation of a mobile robot using shared impedance control scheme: a pilot study

Content Provider	IEEE Xplore Digital Library
Author	Hassan-Zadeh, I. Janabi-Sharifi, F. Yang, A.X.
Copyright Year	2005
Description	Author affiliation: Dept. of Control Eng., Tabriz Univ. (Hassan-Zadeh, I.; Janabi-Sharifi, F.)
Abstract	In this paper, a shared impedance control scheme is proposed for Internet-based teleoperation of mobile robots. Also, pilot study is conducted to evaluate the effect of different teleoperation parameters. In particular, the effects of time delay, human operator training history, operator-machine interface modalities such as degree of haptic versus visual integration, and performance of virtual model versus real images were studied. The scheme was implemented using Matlab XPC Target and Simulink. Several measures were introduced for the evaluation of teleoperation performance. The study confirmed the significance of haptic cues integration for improving teleoperation of mobile robots. The results suggest that appropriate integration of haptic feedback to a proper image feedback could result in a relatively reliable teleoperation in unstructured environments, e.g., for dynamic obstacle avoidance
Starting Page	346
Ending Page	351
File Size	412354
Page Count	6
File Format	PDF
ISBN	0780393546
DOI	10.1109/CCA.2005.1507149
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-08-28
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Internet Mobile robots Impedance Force feedback Robotics and automation Haptic interfaces Manufacturing automation Laboratories Delay effects Humans
Content Type	Text
Resource Type	Article

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