Telexistence cockpit for humanoid robot control

Tachi, Susumu; Komoriya, Kiyoshi; Sawada, Kazuya; Nishiyama, Takashi; Itoko, Toshiyuki; Kobayashi, Masami; Inoue, Kôzô

doi:10.1163/156855303764018468

Cited by 74 publications

(37 citation statements)

References 7 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Numerous researchers have investigated techniques for realizing telexistence/telepresence through feedback of rich sensory information that are acquired by a remote robot and then provided to an operator in order to convey real-time sensation of presence [22] [23].…”

Section: Discussionmentioning

confidence: 99%

Compact image stabilization system for small-sized humanoid

Shiroma

Kobayashi

Oyama³

2009

2008 IEEE International Conference on Robotics and Biomimetics

View full text Add to dashboard Cite

Wearable computing has been actively investigated as the dimensions of devices such as computers, sensors and motors are getting smaller. In this work our aim is to develop an image stabilization system for a small-sized humanoid robot as the first step for sharing of visual information between humans. A small-sized humanoid robot is used to simulate a person who captures visual information of a distant site. The developed image stabilization system can be used for an advanced wearable telepresence system. Requirements of an image stabilization system, which can be used as a wearable system, are compactness, lightness in weight, and real time process such as 30 frames/s. We have implemented our image stabilization system to satisfy these requirements. The developed system uses a 3D motion sensor for camera rotation detection, optical flow for camera translation detection and image process for motion compensation. The experimental results show that images from a small-sized humanoid robot can be stabilized by our developed system.

show abstract

Section: Discussionmentioning

confidence: 99%

Compact image stabilization system for small-sized humanoid

Shiroma

Kobayashi

Oyama³

2009

2008 IEEE International Conference on Robotics and Biomimetics

View full text Add to dashboard Cite

show abstract

“…It comprised a stereo head which transmits the video feedback to the operator through an HMD device. The same human-machine interface is developed also in [7] for robot control. Both implementations however, require high cost equipment and are developed based on proprietary software.…”

Section: Robotic Tele-operationmentioning

confidence: 99%

Augmented Reality-Based Tele-Robotic System Architecture for On-Site Construction

Sukumar

Lee

Georgoulas

et al. 2015

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

View full text Add to dashboard Cite

The planning of construction process is crucial for successful project management and based on which all other sub-tasks and activities follow. Labourintensive construction process which relies on field workers' own intuition and interpretation, has been too complicated to control, which can lead to mistakes, wasted time, and fatal accidents in worst but commonly happening cases. In this sense, applying innovative techniques to on-site construction process for construction planning, scheduling, operation, and monitoring has the potential to assist stakeholders in making better decisions. A head-mounted display (HMD) such as Oculus Rift can visualize construction processes information anytime whether during on-site work or beforehand by providing realistic augmented superimposed environment which is captured via the proposed 2-DOF stereo head. Moreover, by calculating the physical movement (translation, rotation) of building components, which can be accomplished by reading physical, material property data from Building Information Modeling (BIM), and combining it with computational kinematics model of on-site robotic equipment, the field workers can have the digital information for off-site component assembly in real-time manner. This research develops a new methodology for integration of tele-operation with 4D modelling in order to improve building component positioning and erection in terms of efficiency and quality by operating onsite robotic system intelligently. Based on the proposed methodology, an intelligent remotely operated, considering the control and video streaming processes, virtual tele-presence system is prototyped. The proposed system is designed for tele-operated construction robots and comprises a 2-DOF stereo head, a pair of high spatial resolution cameras, and a head mounted display with integrated head tracking mechanism. To validate the proposed methodology, controlled laboratory experiments were designed and implemented.

show abstract

“…It is comprised of a stereo head which transmits the video feedback to the operator through a HMD. The same humanmachine interface is developed also in (Tachi et al (2003)) for robot control. Both implementations however, require sophisticated and expensive equipment and are built with proprietary software.…”

Section: Introductionmentioning

confidence: 99%