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

  • 제16권6호
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  • Pages.553-558
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  • 2010
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지
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원격지 현장감을 향상시키기 위한 무인차량 원격조종에 관한 연구

A Study on the Teleoperation of the Unmanned Grounded Vehicle for Improving Telepresence

  • 이태곤 (한국기술교육대학교 산업대학원) ;
  • 유지환 (한국기술교육대학교 기계정보공학부)
  • 투고 : 2010.03.15
  • 심사 : 2010.04.30
  • 발행 : 2010.06.01
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초록

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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참고문헌

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