We present a system in which a human master commands in a natural way the locomotion of a humanoid slave agent in a virtual or real world. The system combines a sensorized passive locomotion platform (Cyberith Virtualizer) for the walking human, the V-REP simulation environment, an Aldebaran Nao humanoid robot with on-board vision, and a HMD (Oculus Rift) for visual feedback of the virtual or real scene. Through this bidirectional human-robot communication, the human achieves a telepresence that may be useful in different application domains. Experimental results are presented to illustrate the quality and limits of the achieved immersive experience for the user.
2019, Human Friendly Robotics, Pages 85-98 (volume: 7)
Locomotion and telepresence in virtual and real worlds (04b Atto di convegno in volume)
Spada Alessandro, Cognetti Marco, De Luca Alessandro
ISBN: 978-3-319-89326-6; 978-3-319-89327-3
Gruppo di ricerca: Robotics