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dc.contributor.authorPark, Chung Hyuken_US
dc.contributor.authorHoward, Ayanna M.en_US
dc.date.accessioned2011-03-28T15:52:47Z
dc.date.available2011-03-28T15:52:47Z
dc.date.issued2010-03
dc.identifier.citationC.H. Park, A. Howard, “Towards Real-Time Haptic Exploration using a Mobile Robot as Mediator,” 2010 Haptics Symposium, Cambridge, MA, March 2010.en_US
dc.identifier.isbn978-1-4244-6821-8
dc.identifier.isbn978-1-4244-6820-1
dc.identifier.urihttp://hdl.handle.net/1853/38296
dc.description©2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.en_US
dc.descriptionPresented at the 2010 IEEE Haptics Symposium, 25-26 March 2010, Waltham, MA.en_US
dc.descriptionDOI: 10.1109/HAPTIC.2010.5444643en_US
dc.description.abstractIn this paper, we propose a new concept of haptic exploration using a mobile manipulation system, which combines the mobility and manipulability of the robot with haptic feedback for user interaction. The system utilizes and integrates heterogeneous robotic sensor readings to create a real-time spatial model of the environment, which in turn can be conveyed to the user to explore the haptically represented environment and spatially perceive the world without direct contact. The real-world values are transformed into an environmental model (an internal map) by the sensors, and the environmental model is used to create environmental feedback on the haptic device which interacts in the haptically augmented space. Through this multi-scale convergence of dynamic sensor data and haptic interaction, our goal is to enable real-time exploration of the world through remote interfaces without the use of predefined world models. In this paper, the system algorithms and platform are discussed, along with preliminary results to show the capabilities of the system.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectHapticsen_US
dc.subjectHaptic explorationen_US
dc.subjectMobile manipulationen_US
dc.titleTowards Real-Time Haptic Exploration using a Mobile Robot as Mediatoren_US
dc.typeProceedingsen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Human-Automation Systems Laben_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Electrical and Computer Engineeringen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machinesen_US
dc.publisher.originalInstitute of Electrical and Electronics Engineersen_US
dc.identifier.doi10.1109/HAPTIC.2010.5444643


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