A Study on the Teleoperation of the Unmanned Grounded Vehicle for Improving Telepresence원격지 현장감을 향상시키기 위한 무인차량 원격조종에 관한 연구

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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.
Publisher
제어·로봇·시스템학회
Issue Date
2010-06
Language
Korean
Article Type
Article
Citation

Journal of Institute of Control, Robotics and Systems, v.16, no.6, pp.553 - 558

ISSN
1976-5622
DOI
10.5302/J.ICROS.2010.16.6.553
URI
http://hdl.handle.net/10203/264214
Appears in Collection
CE-Journal Papers(저널논문)
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