Virtual Repulsive Force in Competitive Multi-Robot Teleoperation

This paper introduces a new application of a virtual repulsive force feedback (VRFF) in telegame, a competitive multi-robot teleoperation system. This system allows multiple users to play the game competitively over the Internet. To improve the teleoperator´s situation awareness and enhance the control dexterity, many virtual reality approaches are used in the human machine interface. The VRFF is developed based on an orient cylinder bounding (OCB) collision detection algorithm. A teleoperation/telegame robot platform (TTRP) is built and a series of strong-interactive experiments have been conducted on it. In telegame, a 2 DOF force feedback joystick is employed as the master device and two remote users can control their robots dexterously and intuitively via the Internet, which verifies the feasibility and efficiency of VRFF in the Internet-based multi-operator-multi-robot teleoperation system