Proceedings of the 2008 IEEE International Workshop on Safety, Security and Rescue Robotics Sendai, Japan, October 2008 Intuitive Haptic Control Surface for Mobile Robot Motion Control Ben Horan Saeid Nahavandi Deakin University Deakin University Geelong, Victoria, Australia Geelong, Victoria, Australia ben.horangdeakin.edu.au saeid.nahavandigdeakin.edu.au Abstract- Haptic human-machine interfaces and similar techniques priori and where successful execution is essential. In these to enhancing human-robotic interaction offer significant potential types of applications it can be deduced that for the most part, over conventional approaches. This work considers achieving the current state of the art technology in fully autonomous intuitive motion control of a tracked mobile robotic platform utilising systems is not likely to provide a feasible solution. a 3D virtual haptic cone. The 3D haptic cone extends upon existing The human-in-the-loop approach to the control of remote approaches by introducing of a third dimension to the haptic control surface. It is suggested that this approach improves upon existing robotic syst mscofes k ragaic esotnt eratn methods by providing the human operator with an intuitive method for subject to dynamic task requirements and extreme issuing vehicle motion commands whilst still facilitating simultaneous environments. Teleoperation provides the ability to exercise real-time haptic augmentation regarding the task at hand. The human-level cognitive capabilities in real-time during presented approach is considered in the context of mobile robotic execution of the particular task. Although human-in-the-loop teleoperation however offers potential across many applications. control in critical telerobotic scenarios offers obvious Using the 2D haptic control surface as a benchmark, preliminary advantages, the physical displacement of the operator from evaluation of the 3D haptic cone approach demonstrates a significant the remote environment (RE) presents distinct challenges in improvement in the ability to command the robot to cease motion. achieving adequate telepresence and immersion. In the context of this work, telepresence refers to the degree to Keywords: Haptic HMI, haptic HRI, haptic motion control, bilateral wchnthe o peratork fels immers wt the mobile haptic ~ roo cotrl which the human operator feels immersed within the mobile haptic robot control. robot's operating environment. It is of course logical that I. INTRODUCTION being able to achieve adequate telepresence for the task at hand is an integral factor to mission success. The introduction of the haptic medium to human-robotic In is common for the teleoperator of the remote robot to be interaction(HRI) provides a basis for a system to utilise the provided with a single 2-D camera view of the remote operator's tactual modality and offers applicability to a wide environment [2, 3, 8]. While the work by [9] focuses on the range of scenarios. The haptic medium offers the ability to teleoperator's visual information [8], others suggest a more replace or augment existing mediums such as video and audio. radical approach in that telepresence can be increased through Furthermore, the bilateral nature of the haptic HRI makes it the inclusion of haptic HRI [2, 3, 6, 8]. Unlike receiving possible to send and receive information simultaneously. The unilateral visual information via a passive medium, haptic focus of this paper is to investigate the bilateral nature of the HRI is active and offers the ability for the operator to interact haptic interface in teleoperative control of the motion of a bilaterally with the system under control through their tactual remote mobile robot. In contrast to the existing approaches, sensory modality. The inherent bilateral capabilities of the the presented methodology provides an additional dimension haptic medium make it possible to send and receive haptic of haptic information to the user [1-4]. Extending upon the information simultaneously. existing body of work, the 3D haptic cone enables the ability In recent years the applicability of the haptic approach to to not only provide the user with an intuitive indication of the increasing telepresence has become an emerging research current velocities being commanded by the operator, but to focus. In reference to teleoperative mobile robotic control, the also provide simultaneous task-relevant haptic augmentation, introduction of the haptic medium to the HRI offers the such as an indication of the presence of surrounding obstacles potential to augment the operator's control task in order to [2]. overcome the limited visual information of the robot's Teleoperated mobile robots have found relatively operating environment. wide-spread use across many important real-world application In the context of this work it is pertinent to acknowledge the domains such as explosive ordnance handling and disposal [5, assumption that total robot autonomy is not likely to provide a 6] and urban search and rescue (USR ) [7]. These feasible solution in diverse, unstructured environments such application scenarios are suggestive of environments where as those found in explosive ordnance handling, USR, and the terrain may be harsh, task requirements not known a hazardous materials handling. This is not to suggest, however, 978-1-4244-2032-2/08/$25.00 ©)2008 IEEE. 121