Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Study on the Teleoperation of the Unmanned Grounded Vehicle for Improving Telepresence

원격지 현장감을 향상시키기 위한 무인차량 원격조종에 관한 연구

  • 이태곤 (한국기술교육대학교 산업대학원) ;
  • 유지환 (한국기술교육대학교 기계정보공학부)
  • Received : 2010.03.15
  • Accepted : 2010.04.30
  • Published : 2010.06.01
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Abstract

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.

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References

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