Telepresence: Immersion with the iCub Humanoid Robot and the Oculus Rift
Telepresence: Immersion with the iCub Humanoid Robot and the Oculus Rift
复制标题
远程呈现：使用 iCub 人形机器人和 Oculus Rift 进行沉浸式体验
DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
T. Prescott
中科院分区：
文献类型：
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作者：
Uriel Martinez;L. Boorman;T. Prescott
在本文中，我们提出了一个体系结构的研究遥现和人机交互。远程呈现系统使用iCub人形机器人的视觉和凝视控制系统，再加上Oculus Rift虚拟现实系统。人类能够从Oculus Rift中显示的视觉反馈中观察远程位置。远程环境的探索是通过控制的iCub人形机器人的眼睛和头部与人类头部运动的方向信息。我们的系统在本地网络中的各个远程位置进行了测试，并通过互联网对机器人进行了平稳的控制。这提供了一个强大的体系结构，沉浸在机器人系统的人类远程观察和探索的环境。
In this paper we present an architecture for the study of telepresence and human-robot interaction. The telepresence system uses the visual and gaze control systems of the iCub humanoid robot coupled with the Oculus Rift virtual reality system. The human is able to observe a remote location from the visual feedback displayed in the Oculus Rift. The exploration of the remote environment is achieved by controlling the eyes and head of the iCub humanoid robot with orientation information from human head movements. Our system was tested from various remote locations in a local network and through the internet, producing a smooth control of the robot. This provides a robust architecture for immersion of humans in a robotic system for remote observation and exploration of the environment.