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Dynamic Kinesthetic Boundary for Haptic Teleoperation of VTOL Aerial Robots in Complex Environment

Hou, Xiaolei; Mahony, Robert


This paper introduces a novel constraint in the master joystick workspace, termed the dynamic kinesthetic boundary, that aids a pilot to navigate an aerial robotic vehicle through a cluttered environment. The proposed approach exploits spatial cues by projecting the remote environment into a hard boundary in the master device workspace that provides a pilot with a natural representation of approaching obstacles. The approach is distinguished from classical force feedback approaches by...[Show more]

CollectionsANU Research Publications
Date published: 2016
Type: Journal article
Source: IEEE Transactions on Systems, Man and Cybernetics. Part A: Systems and Humans
DOI: 10.1109/TSMC.2015.2478756


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