Omni-directional force-feedback for assisted navigation of omni-directional robots

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Title Omni-directional force-feedback for assisted navigation of omni-directional robots
Publication Type thesis
School or College College of Engineering
Department Mechanical Engineering
Author Tyagi, Rajat
Date 2017
Description The objective of this research is to improve the ability of a human operator to drive an omnidirectional robot by using omnidirectional force-feedback. Omnidirectional vehicles offer improved mobility over conventional vehicles and can potentially benefit people requiring motorized transportation and industries where vehicles must operate in confined spaces. However, omnidirectional vehicles require more skill to control due to the additional degrees of freedom inherent in the vehicle’s design. We hypothesize that providing force-feedback to the driver through an omnidirectional joystick will allow the robot to assist the driver in navigating and avoiding collisions with obstacles in a manner that is natural to the operator. This research is the first attempt to use true omnidirectional 3-DOF (degree of freedom) force-feedback to provide navigational assistance for a human to drive an omnidirectional vehicle. While 2-DOF force-feedback has been used in a limited capacity for obstacle avoidance on omnidirectional vehicles, this is the first study to include a third rotational axis of force-feedback and use it to guide a driver along planar collision-avoiding trajectories with a natural coordination of orientation. Unique intellectual merits put forth by this research include use of a novel omnidirectional haptic device and force-feedback strategies to guide operators and experiments to quantify the ability of force-feedback to improve omnidirectional driving performance and driver experience in a real time scenario.
Type Text
Publisher University of Utah
Subject Haptic; Joystick; Omni-Directional; Robots
Dissertation Name Master of Science
Language eng
Rights Management ©Rajat Tyagi
Format application/pdf
Format Medium application/pdf
ARK ark:/87278/s6p313dr
Setname ir_etd
ID 1346974
Reference URL https://collections.lib.utah.edu/ark:/87278/s6p313dr
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