Abstract
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.
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Spada, A., Cognetti, M., De Luca, A. (2019). Locomotion and Telepresence in Virtual and Real Worlds. In: Ficuciello, F., Ruggiero, F., Finzi, A. (eds) Human Friendly Robotics. Springer Proceedings in Advanced Robotics, vol 7. Springer, Cham. https://doi.org/10.1007/978-3-319-89327-3_7
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DOI: https://doi.org/10.1007/978-3-319-89327-3_7
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