Remote Control Method for Mobile Robot Based on Force Feedback Generated using Collision Prediction Map

Abstract

This paper proposes a remote control method for a mobile robot based on the force feedback generated using a collision prediction map. The collision prediction map expresses the relation between the mobile robot and its surrounding environment as the collision prediction time at each translational and angular velocity. The force feedback is generated by using this collision prediction map. In the proposed method, the operator can feel the environmental information as the tactile sensation. This improves the operability of the remote control system. The validity of the proposed method was confirmed from the experimental results.

Collision Risk Assessment and Operation Assistant Strategy for Teleoperation System

“…Rocco and Lacevic et al [19,20] proposed a hydrostatic and electrostatic hazard field containing information about the robot's attitude and velocity to assess the hazard level of the robot's surroundings. Motoi et al [21] generated a collision prediction map by using the collision time between a robot moving at a certain speed and the surrounding obstacles. A dynamic modified SSM (speed and separation monitoring) method was presented in [22] for ensuring the safety of human-robot collaboration and added some inherent characteristics of robots that had been quantified to the risk index; the safety of the assisting robot was improved by adjusting the speed.…”