Wearable telepresence system based on multimodal communication for effective teleoperation with a humanoid

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.
Publisher
IEICE-INST ELECTRONICS INFORMATION COMMUNICATIONS ENG
Issue Date
2006-01
Language
ENG
Citation

IEICE TRANSACTIONS ON INFORMATION AND SYSTEMS, v.E89D, pp.11 - 19

ISSN
0916-8532
URI
http://hdl.handle.net/10203/3374
Appears in Collection
CS-Journal Papers(저널논문)
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