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http://dx.doi.org/10.5302/J.ICROS.2010.16.6.553

A Study on the Teleoperation of the Unmanned Grounded Vehicle for Improving Telepresence  

Lee, Tae-Gon (한국기술교육대학교 산업대학원)
Ryu, Jee-Hwan (한국기술교육대학교 기계정보공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.16, no.6, 2010 , pp. 553-558 More about this Journal
Abstract
In this paper, we proposed a teleoperation scheme of unmanned grounded vehicle to improve telepresence. Especially, bilateral control architecture for transmitting realistic steering feeling to the remote driver is investigated. System architecture of the teleoperated remote vehicle is introduced with visual, auditory and kinesthetic haptic channel. Several bilateral control architectures are proposed for transmitting remote steering feeling, and subject tests are done to evaluate the performance. Position-force bilateral control architecture with returning torque compensation algorithm shows best performance.
Keywords
unmanned grounded vehicle; teleoperation; haptic; bilateral control; steering feeing;
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