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IEICE Transactions on Information and Systems 2006 E89-D(1):11-19; doi:10.1093/ietisy/e89-d.1.11
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Copyright © 2006 The Institute of Electronics, Information and Communication Engineers

Special Section on Artificial Reality and Telexistence -- Papers

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

Yong-Ho SEO1, Hun-Young PARK2, Taewoo HAN1 and Hyun Seung YANG1

1 The authors are with AIM Lab, EECS dept., KAIST, Daejon, 373–1, Korea. E-mail: yhseo{at}paradise.kaist.ac.kr, 2 The author is with DB Lab, Tmax Soft, Kyunggido, 272–6, Korea.

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.

Key Words: wearable computer, multimodal communication, humanoid robot, human-robot interaction, teleoperation

Manuscript received March 9, 2005.


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