scholarly journals Facilitating Human-Mobile Robot Communication via Haptic Feedback and Gesture Teleoperation

2018 ◽  
Vol 7 (3) ◽  
pp. 1-23 ◽  
Author(s):  
Yuhang Che ◽  
Heather Culbertson ◽  
Chih-Wei Tang ◽  
Sudipto Aich ◽  
Allison M. Okamura
Keyword(s):  
Mobile Robot ◽  
Haptic Feedback ◽  
Robot Communication

scholarly journals Haptic Teleoperation of a Mobile Robot: A User Study

2005 ◽  
Vol 14 (3) ◽  
pp. 345-365 ◽  
Author(s):  
Sangyoon Lee ◽  
Gaurav Sukhatme ◽  
Gerard Jounghyun Kim ◽  
Chan-Mo Park
Keyword(s):  
Mobile Robot ◽  
Obstacle Avoidance ◽  
Minimum Distance ◽  
User Study ◽  
Haptic Feedback ◽  
Haptic Information ◽  
Operator Performance ◽  
Shared Autonomy ◽  
Close Range

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.

scholarly journals A Stable Tele-operation of a Mobile Robot with the Haptic Feedback

2018 ◽  
Vol 51 (22) ◽  
pp. 13-18
Author(s):  
Jangmyung Lee ◽  
Hanuel Yoon ◽  
Donghyuk Lee
Keyword(s):  
Mobile Robot ◽  
Haptic Feedback

scholarly journals Movement acts in breakdown situations: How a robot's recovery procedure affects participants' opinions

2021 ◽  
Vol 12 (1) ◽  
pp. 336-355
Author(s):  
Trenton Schulz ◽  
Rebekka Soma ◽  
Patrick Holthaus
Keyword(s):  
Mobile Robot ◽  
Future Study ◽  
Original Experiment ◽  
Navigation Problem ◽  
Study Designs ◽  
Robot Communication ◽  
Recovery Procedure

Abstract Recovery procedures are targeted at correcting issues encountered by robots. What are people’s opinions of a robot during these recovery procedures? During an experiment that examined how a mobile robot moved, the robot would unexpectedly pause or rotate itself to recover from a navigation problem. The serendipity of the recovery procedure and people’s understanding of it became a case study to examine how future study designs could consider breakdowns better and look at suggestions for better robot behaviors in such situations. We present the original experiment with the recovery procedure. We then examine the responses from the participants in this experiment qualitatively to see how they interpreted the breakdown situation when it occurred. Responses could be grouped into themes of sentience, competence, and the robot’s forms. The themes indicate that the robot’s movement communicated different information to different participants. This leads us to introduce the concept of movement acts to help examine the explicit and implicit parts of communication in movement. Given that we developed the concept looking at an unexpected breakdown, we suggest that researchers should plan for the possibility of breakdowns in experiments and examine and report people’s experience around a robot breakdown to further explore unintended robot communication.

scholarly journals A Study on Teleoperation of a Mobile Robot Using Haptic Feedback

2011 ◽  
Vol 2-3 ◽  
pp. 408-413
Author(s):  
Yun Bae Kim ◽  
Gi Sang Choi
Keyword(s):  
Mobile Robot ◽  
Visual Information ◽  
Haptic Feedback ◽  
Experimental Results ◽  
Improve Efficiency ◽  
Feedback Scheme ◽  
Sense Of Touch

Haptic feedback force is often suggested to complement visual information through the sense of touch to improve efficiency and safety in the teleoperation of mobile robot. The efficiency and safety of teleoperation are strongly dependent upon how haptic feedback is presented to the operator. In this study a haptic feedback scheme for teleoperation of mobile robot is developed and its effectiveness is experimentally verified. Experimental results show that the developed scheme improves the quality of mobile robot teleoperation in terms of improvement in efficiency and safety.

Intelligent Control of a Mobile Robot for Service Use in Office Buildings and Its Soft Computing Algorithms

1996 ◽  
Vol 8 (6) ◽  
pp. 538-554 ◽  
Author(s):  
Takayuki Tanaka ◽  
◽  
Junji Ohwi ◽  
Ludmila V. Litvintseva ◽  
Kazuo Yamafuji ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Soft Computing ◽  
Service Use ◽  
Fuzzy Controller ◽  
Experimental Investigations ◽  
New Approach ◽  
Control Framework ◽  
Fuzzy Neural ◽  
Cognitive Graphics ◽  
Robot Communication

The arrangement principles and design methodology on soft computing for complex control framework of AI control system are introduced. The basis of this methodology is computer simulation of dynamics for mechanical robotic system with the help of qualitative physics and search for possible solutions by genetic algorithms (GA). On fuzzy neural network (FNN) optimal solutions for navigation with avoidance of obstacles and technological operations as opening of door with a manipulator are obtained and knowledge base (KB) for fuzzy controller is formed. Fuzzy qualitative simulation, GA and hierarchical node map (HN), and FNN have demonstrated their effectiveness for path planning of a mobile robot for service use. New approach for direct human-robot communication with natural language and cognitive graphics is introduced. The results of fuzzy robot control simulation, monitoring, and experimental investigations are presented.

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