Remote-Controlled Method with Force and Visual Assists Based on Time to Collision for Mobile Robot

Masaki, Ryo; Kobayashi, Masato; Motoi, Naoki

doi:10.3390/app12083727

Cited by 3 publications

(1 citation statement)

References 38 publications

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“…First, it should work autonomously through environment recognition [16] and the detection of objects or obstacles [17]. Second, it can be remotely operated by a person to fulfill specific and even complex functions, as in [18,19], which denotes the advantages of flexible remote-controlled robots to interact with children through teleoperation.…”

Section: Social Robotsmentioning

confidence: 99%

Remote Operation of CeCi Social Robot

et al. 2023

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This paper presents a validation methodology for a remote system with its objective focused on a social robot. The research process starts with the customization of an application for smartphones, achieving a simple method of connection and attachment to the robot. This customization allows remote operation of the robot’s movements and an additional level of autonomy for the displacements in previously known locations. One of several teleoperations methods is the direct teleoperations method, which is used in master–slave control mode via a wireless network. Next, the article focuses on proposing a validation methodology for social robot applications design. Under this approach, two tests are performed to validate the designed application. The first one seeks to find the response speed of the communication between the robot and the mobile device wherein 10 devices with different characteristics and capabilities are used. This test is critical since a delay outside the allowable range invalidates the use of the application. The second test measures the application’s usability through a user survey, which allows for determining the preferences that people may have when using this type of application. This second test is essential to consider the overall acceptability of the social robot.

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Section: Social Robotsmentioning

confidence: 99%

Remote Operation of CeCi Social Robot

et al. 2023

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Decision-Making for Remote Control of Emergency Mobile Robot

Tsymbal,

Posashkov

2023

2023 IEEE 5th International Conference on Modern Electrical and Energy System (MEES)

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Enhancement of Robot Position Control for Dual-User Operation of Remote Robot System with Force Feedback

Huang,

Ishibashi

2024

Applied Sciences

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We focus on dual-user operation, where two users control a single remote robot equipped with a force sensor using haptic interface devices. We employ a cooperative work in which the two users control the remote robot to collaborate with remote robot systems with force feedback to carry an object. By measuring the force acting upon the object, we aim to better understand the underlying mechanisms by which the user with lower network latency can help the other user, as observed in our previous work. We notice that with increasing network delays, the force exerted on the object tends to intensify, indicating that it becomes more challenging for users to operate the remote robot effectively as network delays increase. We also measure the force applied to the object by changing the network delays between the remote robot and the two users to clarify why the user with the lower network delay can assist the other user. We find that when the total network delay is the same, the average force magnitude and the average maximum force magnitude remain nearly identical. This is because, despite the challenges faced by the user with the larger network delay, the user with the smaller delay can operate the remote robot more easily and assist the other user. In order to reduce the force acting upon the object, we propose an enhancement method for the robot position control, which determines the position of the remote robot arm while accounting for network delay, and investigate the effects by experiment. Experimental results demonstrate that our proposed method is effective and can reduce the applied force. This is because the proposed method adjusts the ratio between the user with the lower delay and the user with the higher delay. The user with the lower delay can operate the remote robot more easily and respond to it more quickly. Our findings and proposed method can be useful in improving work accuracy and operability when designing a remote robot system with force feedback for applications.

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Remote-Controlled Method with Force and Visual Assists Based on Time to Collision for Mobile Robot

Cited by 3 publications

References 38 publications

Remote Operation of CeCi Social Robot

Remote Operation of CeCi Social Robot

Decision-Making for Remote Control of Emergency Mobile Robot

Enhancement of Robot Position Control for Dual-User Operation of Remote Robot System with Force Feedback

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