TORSO: Development of a Telexistence Visual System Using a 6-d.o.f. Robot Head

In telexistence master-slave systems, it is important to transmit visual information from remote places to the operator. Conventional imaging devices in head-mounted displays (HMDs) can only express the three-axis rotation of the neck. However, humans can obtain broader visual fields and motion para...

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Bibliographic Details
Published in:Advanced robotics 2008-01, Vol.22 (10), p.1053-1073
Main Authors: Watanabe, Kouichi, Kawabuchi, Ichiro, Kawakami, Naoki, Maeda, Taro, Tachi, Susumu
Format: Article
Language:English
Subjects:
6 D.O.F. ROBOT HEAD
MASTER-SLAVE
MOTION PARALLAX
TELEXISTENCE
TORSO
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Summary:In telexistence master-slave systems, it is important to transmit visual information from remote places to the operator. Conventional imaging devices in head-mounted displays (HMDs) can only express the three-axis rotation of the neck. However, humans can obtain broader visual fields and motion parallax information from the translational motion of their necks. We have proposed a system that can acquire natural and comfortable visual information, and can accurately track the head motion of a person. Our proposed device can express the head motion and the translation movements of the neck. We have developed a robot, called 'TORSO', and constructed a telexistence visual system with a display device, HMD. In this paper, by means of a broader field of view achieved by motion involving looking around, we demonstrate the advantage and novelty of our proposed system. In addition, we suggest the evolution of the TORSO-HMD system.
ISSN:0169-1864
1568-5535
DOI:10.1163/156855308X324767