ABSTRACT
Teleoperating a mobile robot over rough terrain is difficult with current interaction implementations. These implementations compromise the human operators» situation awareness acquisition of the mobile robot»s attitude, which is crucial to maintain a safe teleoperation. So, we developed a novel haptic device, to relay a mobile robot»s attitude (roll and pitch) to the human operator. A user experiment was performed to evaluate the efficacy of this device in two configurations. A natural attitude configuration between the robot and haptic device, and an ergonomic attitude configuration, which shifts the representation of pitch to the yaw axis. Our results indicate participants were able to successfully perceive the attitude state in both configurations, the natural 58.79% and the ergonomic 63.18% of the times, both are significantly above the 1/3 probability chance. Interestingly, the perception of attitude state was significantly higher in the roll axis over the pitch axis, for the critical and unstable states.
- J. Casper and R. R. Murphy. 2003. Human-robot Interactions During the Robotassisted Urban Search and Rescue Response at the World Trade Center. Trans. Sys. Man Cyber. Part B 33, 3 (Jun 2003), 367--385. Google ScholarDigital Library
- J. Y.C. Chen, E. C. Haas, and M. J. Barnes. 2007. Human Performance Issues and User Interface Design for Teleoperated Robots. Trans. Sys. Man Cyber Part C 37, 6 (Nov 2007), 1231--1245. Google ScholarDigital Library
- A. Hacinecipoglu, E. I. Konukseven, and A. B. Koku. 2013. Evaluation of haptic feedback cues on vehicle teleoperation performance in an obstacle avoidance scenario. In 2013 World Haptics Conference (WHC). 689--694.Google Scholar
- M. Lewis and J. Wang. 2007. Gravity-Referenced Attitude Display for Mobile Robots: Making Sense of What We See. Trans. Sys. Man Cyber. Part A 37, 1 (Jan 2007), 94--105. Google ScholarDigital Library
- Douglas E McGovern. 1989. Experiences in teleoperation of Land Vehicles. NASA, Ames Research Center, Spatial Displays and Spatial Instruments (1989), 1--12. http: //ntrs.nasa.gov/search.jsp?R=19900013638Google Scholar
Index Terms
- User Study Results on Attitude Perception of a Mobile Robot
Recommendations
A mobile robot with autonomous climbing and descending of stairs
Mobile robots are used to operate in urban environments, for surveillance, reconnaissance, and inspection, as well as for military operations and in hazardous environments. Some are intended for exploration of only natural terrains, but others also for ...
A shared control method for obstacle avoidance with mobile robots and its interaction with communication delay
Teleoperation allows human operators to safely extend themselves to remote environments that are typically difficult or dangerous to access. The remote environments are often unstructured i.e. not having clear roads or paths to follow and only ...
A transformable wheel-legged mobile robot
This paper proposes a new type of transformable wheel-legged mobile robot that could be applied on both flat and rugged terrains. It integrates stability and maneuverability of wheeled robot and obstacle climbing capability of legged robot by means of a ...
Comments