NDLI: Fuzzy haptic augmentation for telerobotic stair climbing

Content Provider	IEEE Xplore Digital Library
Author	Horan, B. Nahavandi, S. Creighton, D. Tunstel, E.
Copyright Year	2007
Description	Author affiliation: Deakin Univ., Geelong (Horan, B.; Nahavandi, S.; Creighton, D.; Tunstel, E.)
Abstract	Teleoperated robotic systems provide a valuable solution for the exploration of hazardous environments. The ability to explore dangerous environments from the safety of a remote location represents an important progression towards the preservation of human safety in the inevitable response to such a threat. While the benefits of removing physical human presence are clear, challenges associated with remote operation of a robotic system need to be addressed. Removing direct human presence from the robot's operating environment introduces telepresence as an important consideration in achieving the desired objective. The introduction of the haptic modality represents one approach towards improving operator performance subject to reduced telepresence. When operating in an urban environment, teleoperative stair climbing is not an uncommon scenario. This work investigates the operation of an articulated track mobile robot designed for ascending stairs under teleoperative control. In order to assist the teleoperator in improved navigational capabilities, a fuzzy expert system is utilised to provide the teleoperator with intelligent haptic augmentation with the aim of improving task performance.
Starting Page	2437
Ending Page	2442
File Size	326584
Page Count	6
File Format	PDF
ISBN	9781424409907
DOI	10.1109/ICSMC.2007.4413791
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-10-07
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Haptic interfaces Telerobotics Teleoperators Humans Mobile robots Laboratories Open loop systems Safety Intelligent systems Navigation
Content Type	Text
Resource Type	Article

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