ICRA'09 Paper Abstract


Paper FrC1.2

Tappeiner, Hanns (Carnegie Mellon University), Skaff, Sarjoun (Carnegine Mellon University), Szabo, Tomas (Technical University of Munich), Hollis, Ralph (Carnegie Mellon University)

Remote Haptic Feedback from a Dynamic Running Machine

Scheduled for presentation during the Regular Sessions "Legged Robots and Humanoid Locomotion - III" (FrC1), Friday, May 15, 2009, 13:50−14:10, MainHall

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Legged Robots and Humanoid Locomotion, Haptics and Haptic Interfaces, Telerobotics


In this paper we present our efforts to design a system for feeding back useful haptic information from a highly dynamic running robot to a remote operator using a haptic device. Without adding additional sensors, the legs of the robot are used as feelers to give the operator the capability to both explore and manipulate the robotís environment and to gather meaningful information about properties not captured by visual feedback like weight, movability and structure of an encountered object. We show the capabilities of the system in a user study with both trained and untrained operators.



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