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   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)
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.