Foot-Operated Telelocomotion Interface for Avatar Robots Utilizing Mecanum Wheel-Based Mobile Platforms

Abstract

This paper presents a foot-operated telelocomotion interface designed for use with avatar robots, with the humanoid robot TOCABI. The system features the mobile platforms equipped with Mecanum wheel and a telelocomotion interface utilizing the Rudder pedals. The design takes into consideration the limitations imposed by the haptic device worn by the operator, which restricts the use of traditional input methods such as keyboards and joysticks. The telelo-comotion interface was evaluated in comparison to other systems from teams participating in the ANA Avatar XPRIZE finals, providing a comprehensive overview of the current state-of-the-art telelocomotion interface for avatar robots and highlighting the unique features of the system presented in this paper. The results of this study have implications for the design of future telelocomotion interface for avatar robots.