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Dynamic Kinesthetic Boundary for Haptic Teleoperation ofUnicycle Type Ground Mobile Robots

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dc.contributor.authorHou, Xiaolei
dc.contributor.authorFang, Pengfei
dc.contributor.authorQu, Yaohong
dc.contributor.editorLiu, T
dc.contributor.editorZhao, Q
dc.coverage.spatialDalian, China
dc.date.accessioned2024-02-04T23:09:53Z
dc.date.createdJuly 26-28 2017
dc.date.issued2017
dc.date.updated2022-10-02T07:19:01Z
dc.description.abstractThis paper presents the design of a novel dynamic kinesthetic boundary (DKB) for haptic teleoperation of unicycle type ground mobile robots. The kinematics of unicycle type vehicles impose significant challenges for applying DKB in teleoperation of such vehicles, where the DKB was originally proposed for teleoperation of Vertical Taking-Off and Landing (VTOL) aerial robots. Modifications to DKB is incorporated to facilitate the pilot's perception of the remote environment at the local master haptic workspace and obstacle avoidance for unicycle type robots. Analysis on the proposed DKB's obstacle avoidance performance is provided. Both simulation and experimental study were conducted, and the outcomes verify the analysis and confirm the feasibility of the application of the novel DKB in teleoperation tasks.en_AU
dc.description.sponsorshipThis research was supported by Northwestern Polytechnical University “the Fundamental Research Funds for the Central Universities” 3102016OQD052 and National Natural Science Foundation of China 61473229.en_AU
dc.format.mimetypeapplication/pdfen_AU
dc.identifier.isbn978-9-8815-6393-4en_AU
dc.identifier.urihttp://hdl.handle.net/1885/313122
dc.language.isoen_AUen_AU
dc.publisherIEEEen_AU
dc.relation.ispartofseries36th Chinese Control Conference, CCC 2017en_AU
dc.rights© 2017 IEEEen_AU
dc.sourceProceedings of the 36th Chinese Control Conferenceen_AU
dc.titleDynamic Kinesthetic Boundary for Haptic Teleoperation ofUnicycle Type Ground Mobile Robotsen_AU
dc.typeConference paperen_AU
local.bibliographicCitation.lastpage6251en_AU
local.bibliographicCitation.startpage6246en_AU
local.contributor.affiliationHou, Xiaolei, Northwestern Polytechnical Universityen_AU
local.contributor.affiliationFang, Pengfei, College of Engineering and Computer Science, ANUen_AU
local.contributor.affiliationQu, Yaohong, Northwestern Polytechnical Universityen_AU
local.contributor.authoruidFang, Pengfei, u5765437en_AU
local.description.embargo2099-12-31
local.description.notesImported from ARIESen_AU
local.description.refereedYes
local.identifier.absfor400700 - Control engineering, mechatronics and roboticsen_AU
local.identifier.ariespublicationa383154xPUB9049en_AU
local.identifier.doi10.23919/ChiCC.2017.8028350en_AU
local.identifier.scopusID2-s2.0-85032230859
local.publisher.urlhttps://www.ieee.org/en_AU
local.type.statusPublished Versionen_AU

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