Generating artificial force for feedback control of teleoperatedmobile robots

摘要

One of the most important issues in the teleoperation is toprovide the sense of telepresence so as to conduct the task morereliably. In particular, teleoperated mobile robots need to have somekind of backup system when the operator is blind to the remote situationowing to failure of the vision system. In Hong S-G et al. (seeMechatronics), the idea of artificial force reflection was proposed toenhance the reliability of operation when the mobile robot travels overplain ground. We extend these results to help the teleoperator even whenthe robot climbs stairs. The extended artificial force reflection methodhas two modes: traveling on plain ground and climbing stairs. Whentraveling over plain ground, the force information is artificiallygenerated using range data from the environment while generating theimpulse force when climbing stairs. To verify the validity of ouralgorithm, we develop a simulator which consists of a joystick andvisual display system. Through experiments using this system, we confirmthe validity and effectiveness of our new artificial force reflection inteleoperated mobile robots