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Wearable Telepresence System Based on Multimodal Communication for Effective Teleoperation with a Humanoid Yong-Ho SEO Hun-Young PARK Taewoo HAN Hyun Seung YANG Publication IEICE TRANSACTIONS on Information and Systems Vol.E89-D No.1 pp.11-19 Publication Date: 2006/01/01 Online ISSN: 1745-1361 DOI: 10.1093/ietisy/e89-d.1.11 Print ISSN: 0916-8532 Type of Manuscript: Special Section PAPER (Special Section on Artificial Reality and Telexistence) Category: Keyword: wearable computer, multimodal communication, humanoid robot, human-robot interaction, teleoperation, Full Text: PDF(1.3MB)>>
Summary: This paper presents a new type of wearable teleoperation system that can be applied to the control of a humanoid robot. The proposed system has self-contained computing hardware with a stereo head-mounted display, a microphone, a set of headphones, and a wireless LAN. It also has a mechanism that tracks arm and head motion by using several types of sensors that detect the motion data of an operator, along with a simple force reflection mechanism that uses vibration motors at appropriate joints. For remote tasks, we use intelligent self-sensory feedback and autonomous behavior, such as automatic grasping and obstacle avoidance in a slave robot, and we feed the information back to an operator through a multimodal communication channel. Through this teleoperation system, we successfully demonstrate several teleoperative tasks, including object manipulation and mobile platform control of a humanoid robot. | ||||||||||
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