Haptic Teleoperated Robotic System for an Effective Obstacle Avoidance

摘要

A novel haptic teleoperated scheme for an efficient obstacle avoidance under human guidance is introduced. A remote robot immersed in an environment with obstacles is guided by a user using the end-effector of a haptic device. The system provides force feedback to the user when he approaches a potential field surrounding an obstacle. The user assigns the potential fields to the obstacles based on subjective judgments, i.e. a loose fitting potential field whether the obstacle is fragile or tough, to avoid a close approach to it. Obstacle avoidance experiments under visual and force feedback were performance and the results confirm the effectiveness of this scheme.