Virtual force feedback teleoperation of the InsectBot using optical flow
Schill, Felix, Mahony, Robert, Corke, Peter, & Cole, Luke (2008) Virtual force feedback teleoperation of the InsectBot using optical flow. In Kim, Jonghyuk & Mahony, Robert (Eds.) Proceedings of the 2008 Australasian Conference on Robotics & Automation, Australian Robotics and Automation Association Inc., Canberra, Australia.
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
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|Item Type:||Conference Paper|
|Keywords:||robot, optical flow|
|Subjects:||Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600)|
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
|Divisions:||Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering|
Past > Schools > School of Engineering Systems
|Copyright Owner:||Copyright 2008 [please consult author]|
|Deposited On:||16 Aug 2010 12:32|
|Last Modified:||01 Mar 2012 00:12|
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