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ID 33053
FullText URL
Author
Yang, Zhixiao
Ito, Kazuyuki
Saijo, Kazuhiko
Hirotsune, Kazuyuki
Gofuku, Akio Kaken ID
Matsuno, Fumitoshi
Abstract

This paper applies our developed novice users oriented force feedback steering wheel interface and mouse interface to navigating a tank type rescue robot. By analyzing merits and limitation of operating each interface, we propose a combined navigation strategy by the two interfaces. The steering wheel interface consists of a force feedback steering control and a six monitors’ wall. Through this interface, users can navigate the tank robot like driving cars, while watching incoming videos. It provides a daily life operation method for novice users to navigate the tank rescue robot. The steering wheel interface is efficient in exploring open areas. For complex disaster fields, this interface requires users have skillful operation experiences, which take them more attention. The mouse-screen interface consists of a mouse and a camera’s view displayed in a computer screen. Through this interface, users can navigate the tank robot just by mouse clicking. Path planning and low-level controlling are realized by system automatically. The mouse-screen interface can realize exact navigation, especially needed in complex structures, without taking much attention. It gives users more time to care incoming information. The two interfaces can shift into each other at any time. The combined navigation strategy adopts merits of the two interfaces and compensates limitation of each of them. It provides an efficient operation method for novice users to navigate rescue robots.

Keywords
Human Interface
Rescue Robot
Navigation
Force Feedback Steering Wheel
Mouse
Tank Robot.
Note
Published with permission from the copyright holder. This is the institute's copy, as published in Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on, 22-26 Aug. 2004, Pages 239-244.
Publisher URL:http://ieeexplore.ieee.org/search/wrapper.jsp?arnumber=1521783
Copyright © 2004 IEEE. All rights reserved.
Published Date
2004-8
Publication Title
Robotics and Biomimetics
Start Page
239
End Page
244
Content Type
Journal Article
language
英語
Refereed
True
Submission Path
mechanical_engineering/22