TY - GEN
T1 - Virtual force feedback teleoperation of the InsectBot using optical flow
AU - Schill, Felix
AU - Mahony, Robert
AU - Corke, Peter
AU - Cole, Luke
PY - 2008
Y1 - 2008
N2 - This paper proposes the use of optical flow from a moving robot to provide force feedback to an operator's joystick to facilitate collision free teleoperation. Optical flow is measured by a pair of wide angle cameras on board the vehicle and used to generate a virtual environmental force that is reflected to the user through the joystick, as well as feeding back into the control of the vehicle. We show that the proposed control is dissipative and prevents the vehicle colliding with the environment as well as providing the operator with a natural feel for the remote environment. Experimental results are provided on the InsectBot holonomic vehicle platform.
AB - This paper proposes the use of optical flow from a moving robot to provide force feedback to an operator's joystick to facilitate collision free teleoperation. Optical flow is measured by a pair of wide angle cameras on board the vehicle and used to generate a virtual environmental force that is reflected to the user through the joystick, as well as feeding back into the control of the vehicle. We show that the proposed control is dissipative and prevents the vehicle colliding with the environment as well as providing the operator with a natural feel for the remote environment. Experimental results are provided on the InsectBot holonomic vehicle platform.
UR - http://www.scopus.com/inward/record.url?scp=84855585621&partnerID=8YFLogxK
M3 - Conference contribution
SN - 9780646506432
T3 - Proceedings of the 2008 Australasian Conference on Robotics and Automation, ACRA 2008
BT - Proceedings of the 2008 Australasian Conference on Robotics and Automation, ACRA 2008
T2 - 2008 Australasian Conference on Robotics and Automation, ACRA 2008
Y2 - 3 December 2008 through 5 December 2008
ER -