Towards Real-Time Haptic Exploration using a Mobile Robot as Mediator

dc.contributor.author Park, Chung Hyuk en_US
dc.contributor.author Howard, Ayanna M. en_US
dc.contributor.corporatename Georgia Institute of Technology. Human-Automation Systems Lab en_US
dc.contributor.corporatename Georgia Institute of Technology. School of Electrical and Computer Engineering en_US
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines en_US
dc.date.accessioned 2011-03-28T15:52:47Z
dc.date.available 2011-03-28T15:52:47Z
dc.date.issued 2010-03
dc.description ©2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. en_US
dc.description Presented at the 2010 IEEE Haptics Symposium, 25-26 March 2010, Waltham, MA. en_US
dc.description DOI: 10.1109/HAPTIC.2010.5444643 en_US
dc.description.abstract In this paper, we propose a new concept of haptic exploration using a mobile manipulation system, which combines the mobility and manipulability of the robot with haptic feedback for user interaction. The system utilizes and integrates heterogeneous robotic sensor readings to create a real-time spatial model of the environment, which in turn can be conveyed to the user to explore the haptically represented environment and spatially perceive the world without direct contact. The real-world values are transformed into an environmental model (an internal map) by the sensors, and the environmental model is used to create environmental feedback on the haptic device which interacts in the haptically augmented space. Through this multi-scale convergence of dynamic sensor data and haptic interaction, our goal is to enable real-time exploration of the world through remote interfaces without the use of predefined world models. In this paper, the system algorithms and platform are discussed, along with preliminary results to show the capabilities of the system. en_US
dc.identifier.citation C.H. Park, A. Howard, “Towards Real-Time Haptic Exploration using a Mobile Robot as Mediator,” 2010 Haptics Symposium, Cambridge, MA, March 2010. en_US
dc.identifier.doi 10.1109/HAPTIC.2010.5444643
dc.identifier.isbn 978-1-4244-6821-8
dc.identifier.isbn 978-1-4244-6820-1
dc.identifier.uri http://hdl.handle.net/1853/38296
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.publisher.original Institute of Electrical and Electronics Engineers en_US
dc.subject Haptics en_US
dc.subject Haptic exploration en_US
dc.subject Mobile manipulation en_US
dc.title Towards Real-Time Haptic Exploration using a Mobile Robot as Mediator en_US
dc.type Text
dc.type.genre Proceedings
dspace.entity.type Publication
local.contributor.author Howard, Ayanna M.
local.contributor.corporatename School of Civil and Environmental Engineering
local.contributor.corporatename Institute for Robotics and Intelligent Machines (IRIM)
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