A haptic base human robot interaction approach for robotic grit blasting

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dc.contributor.author Chotiprayanakul, P
dc.contributor.author Wang, D
dc.contributor.author Kwok, N
dc.contributor.author Liu, D
dc.date.accessioned 2010-06-16T05:00:30Z
dc.date.issued 2008
dc.identifier.citation ISARC 2008 - Proceedings from the 25th International Symposium on Automation and Robotics in Construction, 2008, pp. 148 - 154
dc.identifier.isbn 9789955283294
dc.identifier.other E1 en_US
dc.identifier.uri http://hdl.handle.net/10453/11971
dc.description.abstract This paper proposes a remote operation method for a robot arm in a complex environment by using the Virtual Force (VF) based approach. A virtual robot arm is manipulated by a steering force, at the end-effecter, which is generated according to the movement of a feedback haptic. A three-dimensional force field (3D-F2) is employed in collision detection and avoidance. Repulsive forces from the 3D-F2 are produced and feedback to the haptic device that enables the operator to have a sense of touch on the encountered obstacle and then steer the arm to avoid it. As a result, collision-free poses of the virtual robot arm can then be used to command the real robot. Experiments are conducted in a mock up bridge environment where the real robot arm is steered to target points by the operator. Experiment results have shown successful collision avoidance and emulation of the actual command force and the virtual forces in remote operations.
dc.title A haptic base human robot interaction approach for robotic grit blasting
dc.type Conference Proceeding
dc.parent ISARC 2008 - Proceedings from the 25th International Symposium on Automation and Robotics in Construction
dc.journal.number en_US
dc.publocation Vilnius, Lithuania en_US
dc.identifier.startpage 148 en_US
dc.identifier.endpage 154 en_US
dc.cauo.name FEIT.School of Elec, Mech and Mechatronic Systems en_US
dc.conference Verified OK en_US
dc.for 0905 Civil Engineering
dc.personcode 000350
dc.personcode 995424
dc.personcode 105612
dc.personcode 104148
dc.percentage 100 en_US
dc.classification.name Civil Engineering en_US
dc.classification.type FOR-08 en_US
dc.edition en_US
dc.custom International Symposium on Automation and Robotics in Construction en_US
dc.date.activity 20080626 en_US
dc.location.activity Vilnius, Lithuania en_US
dc.description.keywords en_US
dc.description.keywords Human robot interaction (HRI)
dc.description.keywords Remote operation
dc.description.keywords Steel bridge maintenance system
dc.description.keywords Virtual Force field
dc.description.keywords Human robot interaction (HRI)
dc.description.keywords Remote operation
dc.description.keywords Steel bridge maintenance system
dc.description.keywords Virtual Force field
pubs.embargo.period Not known
pubs.organisational-group /University of Technology Sydney
pubs.organisational-group /University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group /University of Technology Sydney/Faculty of Engineering and Information Technology/School of Elec, Mech and Mechatronic Systems


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