Wearable Telepresence System using Multi-modal Communication with Humanoid Robot

This paper presents a new type of wearable telepresence system that is applicable to the control of a humanoid robot. The system consists of self-contained computing hardware with a stereo HMD, a microphone, a headphone and a wireless LAN, an arm and head motion tracking mechanism that uses several types of sensors to get the motion data of an operator, and a simple force reflection mechanism that uses vibration motors at the proper joints. To enable the robot to successfully accomplish remote tasks, we have adopted a new method that uses intelligent self-sensory feedback and autonomous behavior, such as automatic grasping and obstacle avoidance in a slave robot. The method also gives feedback to an operator through a multimodal communication channel. Through this telepresence system, we have successfully demonstrated several teleoperation tasks including object manipulation and mobile platform control of the humanoid robot Key words: Telepresence, Wearable Computer, Multimodal Commun...

• Type: Conference
• Year: 2003
• Where: ICAT
• Authors: Yongho Seo, Heonyoung Park, Hyun Seung Yang
• Keywords: Humanoid Robot, ICAT 2003, Multimodal Communication, Wearable Telepresence