Wearable Telepresence System Based on Multimodal Communication for Effective Teleoperation with a Humanoid

摘要

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.