Title :
Human-robot interaction via haptic device
Author :
Wang, Huanran ; Liu, Xiaoping P.
Author_Institution :
Dept. of Syst. & Comput. Eng., Carleton Univ., Ottawa, ON, Canada
Abstract :
This paper presents a novel human-robot interaction system for which haptic interaction is involved. The system consists of a nonholonomic mobile robot and a Phantom Omni haptic device. The tracking problem on the 2D plane is analyzed and the backstepping technique is used for designing the tracking algorithm for the nonholonomic mobile robot. A haptic rendering algorithm is designed to generate the haptic feedback based on the position error information. Experiments show that the user can guide the movement of the robot quite easily and smoothly.
Keywords :
haptic interfaces; human-robot interaction; mobile robots; rendering (computer graphics); Phantom Omni haptic device; backstepping technique; haptic feedback; haptic interaction; haptic rendering algorithm; human-robot interaction system; nonholonomic mobile robot; position error information; Algorithm design and analysis; Haptic interfaces; Humans; Mobile robots; Phantoms; Rendering (computer graphics); Human-robot interaction; haptic rendering algorithm; haptics; tracking algorithm;
Conference_Titel :
Haptic Audio-Visual Environments and Games (HAVE), 2010 IEEE International Symposium on
Conference_Location :
Phoenix, AZ
Print_ISBN :
978-1-4244-6507-1
DOI :
10.1109/HAVE.2010.5623983
