[D99] Virtual fixtures for tip-over stability of teleoperated mobile manipulators

Tip-over stability measures are metrics, which consider device configuration and dynamics, that can be used to estimate how close a robotic platform is to falling over. A wide variety of measures have been proposed, but insufficient attention has been given to comparing the accuracy and utility of them. In this demonstration, we will show the use of virtual fixtures to assist an operator in preventing the tipover of an explosive ordnance disposal robot. The need to prevent tip-over in this application is clear - especially given the difficulty in otherwise attending to these constraints when working with large workspace manipulators and while applying large forces for excavation or lifting. Haptic feedback and control of a virtual robot will be provided by a Phantom Omni. By way of comparison, standard and augmented visual feedback methods will also be presented. Various tip-over stability measures will be used to generate the virtual fixtures.