Virtual Force Feedback teleoperation of the insectBot using optical flow

摘要: This paper proposes the use of optical flow from a moving robot to provide force feedback to an operator’s joystick facilitate collision free teleoperation. Optical is measured by a pair wide angle cameras on board vehicle and used generate a virtual environmental force that reflected user through the joystick, as well feeding back into the control vehicle. We show proposed control dissipative and prevents the vehicle colliding with environment well as providing operator natural feel for remote environment. Experimental results are provided InsectBot holonomic vehicle platform.