Self-Centering 3-DoF Feet Controller for Hands-Free Locomotion Control in Telepresence and Virtual Reality
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arXiv
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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866909405009674240 |
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| author | Memmesheimer, Raphael Lenz, Christian Schwarz, Max Schreiber, Michael Behnke, Sven |
| author_facet | Memmesheimer, Raphael Lenz, Christian Schwarz, Max Schreiber, Michael Behnke, Sven |
| contents | We present a novel seated feet controller for handling 3-DoF aimed to control locomotion for telepresence robotics and virtual reality environments. Tilting the feet on two axes yields in forward, backward and sideways motion. In addition, a separate rotary joint allows for rotation around the vertical axis. Attached springs on all joints self-center the controller. The HTC Vive tracker is used to translate the trackers' orientation into locomotion commands. The proposed self-centering feet controller was used successfully for the ANA Avatar XPRIZE competition, where a naive operator traversed the robot through a longer distance, surpassing obstacles while solving various interaction and manipulation tasks in between. We publicly provide the models of the mostly 3D-printed feet controller for reproduction. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2408_02319 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Self-Centering 3-DoF Feet Controller for Hands-Free Locomotion Control in Telepresence and Virtual Reality Memmesheimer, Raphael Lenz, Christian Schwarz, Max Schreiber, Michael Behnke, Sven Robotics Human-Computer Interaction We present a novel seated feet controller for handling 3-DoF aimed to control locomotion for telepresence robotics and virtual reality environments. Tilting the feet on two axes yields in forward, backward and sideways motion. In addition, a separate rotary joint allows for rotation around the vertical axis. Attached springs on all joints self-center the controller. The HTC Vive tracker is used to translate the trackers' orientation into locomotion commands. The proposed self-centering feet controller was used successfully for the ANA Avatar XPRIZE competition, where a naive operator traversed the robot through a longer distance, surpassing obstacles while solving various interaction and manipulation tasks in between. We publicly provide the models of the mostly 3D-printed feet controller for reproduction. |
| title | Self-Centering 3-DoF Feet Controller for Hands-Free Locomotion Control in Telepresence and Virtual Reality |
| topic | Robotics Human-Computer Interaction |
| url | https://arxiv.org/abs/2408.02319 |