MOBILE ROBOT TELEOPERATION
In this research several interfaces for teleoperation of a mobile robot are described and analyzed.
We consider teleoperation of a wheeled mobile robot when control commands are given by human operator through a master device.
Phantom Premium 1.5A from SensAble Technologies, Inc. was
used as a master device. We implemented our control ideas to
the Activmedia Pioneer 3-DX mobile robot.
CONTROL STRATEGIES
Position-speed and position-position command strategies were used for mobile robot teleoperation. In position-position strategy desired speed of a mobile robot is defined by a master manipulator’s position. In position-speed command strategy robot’s position is controlled by position of master device. Hybrid command strategy, combining position-speed and position-position strategy, is introduced.
FEEDBACK INFORMATION
First, unilateral teleoperation was studied. Experiments with position-speed, position-position and hybrid command strategies were evaluated.
Second, bilateral teleoperation of a mobile robot was studied using two types of force feedback: force feedback related to obstacle range information, and force feedback including information about the state of the robot. For experiments with bilateral teleoperation different command strategies were applied.
The role of vision feedback was verified also. For each type of human-robot interaction interface advantages and disadvantages, and possible applications were described.
Audio information was also introduced as one
of the possible types of feedback for teleoperation systems.
Sound system was used to inform the human-operator about the
obstacle in front of the robot. Intensity of this signal was
increased while the robot was approaching to the obstacle.
The role of sound feedback is to give additional information
about the remote environment, so that the probability of
collision will be decreased.
In next video, you can see mobile robot teleoperation experiment. During that experiment human-operator was asked to complete the task of moving objects in remote environment. Human-operator used switching control strategy for remote control of speed or position of the mobile robot. Completion task and accuracy of object
positioning was measured. Position control mode allowed human-operator to
intuitively control each displacement of robots position. It was useful for object manipulation. In speed control mode human remotely controlled speed of the robot. That allowed easy navigation in a large workspace.
Next video shows simulation study on teleoperation of mobile manipulator. Mobile manipulator is a multiple robot system which includes mobile platform and manipulator attached to platform. Human-operato could use switching controller for sequential teleoperation of mobile platform and manipulator. Human-operator could control speed of the platform to navigate in a large workspace and position of manipulator in a small environment.
MAIN RESULTS
Research showed importance of different types
of feedback information according to the application area of
the teleoperator system. Text feedback is important for
representing state information of the robot. Vision system
can provide complex information about the remote
environment. Force feedback can provide human with obstacle
range information in order to prevent collisions. Additional
sound signals are important to give the user more feeling
about the state of the teleoperation system.
Control strategies were another objective of
our research. Proposed hybrid control strategy for mobile
robot teleoperation showed better performance.
Human-operator could navigate the robot more easier, faster
and carefully.
PUBLICATIONS
Ildar Farkhatdinov, Jee Hwan Ryu, "Hybrid
Position-Position and Position-Speed Command Strategy for
the Bilateral Teleoperation of a Mobile Robot,"
International Conference on Control, Automation and Systems
2007, Oct. 17-20, 2007 in COEX, Seoul, Korea PDF
Ildar Farkhatdinov, Jee-Hwan Ryu, “A User Study of
a Mobile Robot Teleoperation,” In Proc. of the 4th
International Conference on Ubiquitous Robots and Ambient
Intelligence, Pohang, POSTECH, Korea.
PDF
CONTACTS
For more information please contact:
Ildar Farkhatdinov
ildar@kut.ac.kr
Prof. Jee Hwan Ryu
jhryu@kut.ac.kr
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