Flying head: A head-synchronization mechanism for flying telepresence

Higuchi, Keita; Fujii, Keiji; Rekimoto, Jun

doi:10.1109/icat.2013.6728902

Cited by 29 publications

(16 citation statements)

References 18 publications

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“…Over the last decade, gesture-based interfaces for the control of flying robots have gained increasing interest, including approaches using commands from the head ( 31 , 32 ), the hand ( 26 , 33 , 34 ), the upper body ( 5 , 27 , 35 – 39 ), or even the entire body ( 40 ). Systems using head gestures involve a first-person view (FPV) visual feedback presented to the user through a head-mounted display (HMD) and are thus highly intuitive, yet this approach prevents the user from visually exploring the environment without affecting the flight trajectory.…”

mentioning

confidence: 99%

Data-driven body–machine interface for the accurate control of drones

Miehlbradt

Cherpillod

Mintchev

et al. 2018

Proc. Natl. Acad. Sci. U.S.A.

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SignificanceThe teleoperation of nonhumanoid robots is often a demanding task, as most current control interfaces rely on mappings between the operator’s and the robot’s actions, which are determined by the design and characteristics of the interface, and may therefore be challenging to master. Here, we describe a structured methodology to identify common patterns in spontaneous interaction behaviors, to implement embodied user interfaces, and to select the appropriate sensor type and positioning. Using this method, we developed an intuitive, gesture-based control interface for real and simulated drones, which outperformed a standard joystick in terms of learning time and steering abilities. Implementing this procedure to identify body-machine patterns for specific applications could support the development of more intuitive and effective interfaces.

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mentioning

confidence: 99%

Data-driven body–machine interface for the accurate control of drones

Miehlbradt

Cherpillod

Mintchev

et al. 2018

Proc. Natl. Acad. Sci. U.S.A.

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“…The former [10][11][12][13][14] usually elicits symptoms of simulator sickness. However, operating vehicles using only HMDs [1][2][3][4] seem to give people a more direct, immersive and intuitive way of control than joint use of computer monitors and joysticks. In addition, researchers have also investigated the effects of latency on driving cars [15] and piloting helicopters [16].…”

Section: Discussionmentioning

confidence: 99%

“…Higuchi and Rekimoto [2] proposed a control mechanism for quadcopters called the Flying Head. In this method, translation motion accomplished by walking and tracked by an HMD was directly mapped to the spatial motion of a quadcopter i.e.…”

Section: B Head Motion Controlled Vehicles Using Hmdsmentioning

confidence: 99%

“…Recently, there has been growing interest in remotely operating robots and aerial vehicles using head motion tracked by an HMD. A typical teleoperation approach for such vehicles maps the tracked head orientation by an HMD to the attitude of the vehicles for maneuvering it and first-person views from the perspective of the vehicles are usually captured by onboard cameras and presented onto the display panels of HMDs [1][2][3][4]. Such settings give users an egocentric, immersive and intuitive way of teleoperation compared with conventional control methods using hand-held devices, such as a joystick.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

The Effects of Visual and Control Latency on Piloting a Quadcopter Using a Head-Mounted Display

Zhao

Allison

Vinnikov

et al. 2018

2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

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Recent research has proposed teleoperation of robotic and aerial vehicles using head motion tracked by a headmounted display (HMD). First-person views of the vehicles are usually captured by onboard cameras and presented to users through the display panels of HMDs. This provides users with a direct, immersive and intuitive interface for viewing and control. However, a typically overlooked factor in such designs is the latency introduced by the vehicle dynamics. As head motion is coupled with visual updates in such applications, visual and control latency always exists between the issue of control commands by head movements and the visual feedback received at the completion of the attitude adjustment. This causes a discrepancy between the intended motion, the vestibular cue and the visual cue and may potentially result in simulator sickness. No research has been conducted on how various levels of visual and control latency introduced by dynamics in robots or aerial vehiclesaffect users' performance and the degree of simulator sickness elicited. Thus, it is uncertain how much performance is degraded by latency and whether such designs are comfortable from the perspective of users. To address these issues, we studied a prototyped scenario of a head motion controlled quadcopter using an HMD. We present a virtual reality (VR) paradigm to systematically assess the effects of visual and control latency in simulated drone control scenarios.

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“…The use of wearable virtual-reality devices allows a seamless integration with the motion capture system and additionally provides a natural way of controlling the view of the operator. A broader description of possible telecontrol with tele-presence techniques is given by [10] and [11] implements a tele-presence mechanism to connect an operator with a drone.…”

Section: Introductionmentioning

confidence: 99%

First-person tele-operation of a humanoid robot

Fritsche

Unverzag

Peters

et al. 2015

2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)

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Abstract-Remote control of robots is often necessary to complete complex unstructured tasks in environments that are inaccessible (e.g. dangerous) for humans. Tele-operation of humanoid robots is often performed trough motion tracking to reduce the complexity deriving from manually controlling a high number of DOF. However, most commercial motion tracking apparatus are expensive and often uncomfortable. Moreover, a limitation of this approach is the need to maintain visual contact with the operated robot, or to employ a second human operator to independently maneuver a camera. As a result, even performing simple tasks heavily depends on the skill and synchronization of the two operators. To alleviate this problem we propose to use augmented-reality to provide the operator with first-person vision and a natural interface to directly control the camera, and at the same time the robot. By integrating recent off-the-shelf technologies, we provide an affordable and intuitive environment composed of Microsoft Kinect, Oculus Rift and haptic SensorGlove to tele-operate in first-person humanoid robots. We demonstrate on the humanoid robot iCub that this set-up allows to quickly and naturally accomplish complex tasks.

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Flying head: A head-synchronization mechanism for flying telepresence

Cited by 29 publications

References 18 publications

Data-driven body–machine interface for the accurate control of drones

Data-driven body–machine interface for the accurate control of drones

The Effects of Visual and Control Latency on Piloting a Quadcopter Using a Head-Mounted Display

First-person tele-operation of a humanoid robot

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