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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
IEICE TRANSACTIONS on Information and Systems
Publication Date: 2006/01/01
Online ISSN: 1745-1361
Print ISSN: 0916-8532
Type of Manuscript: Special Section PAPER (Special Section on Artificial Reality and Telexistence)
wearable computer, multimodal communication, humanoid robot, human-robot interaction, teleoperation,
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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.