Self-Centering 3-DoF Feet Controller for Hands-Free Locomotion Control in Telepresence and Virtual Reality
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.
- Veröffentlicht in:
arXiv - Typ:
Article - Autoren:
- Jahr:
2024 - Source:
https://arxiv.org/abs/2408.02319
Informationen zur Zitierung
: Self-Centering 3-DoF Feet Controller for Hands-Free Locomotion Control in Telepresence and Virtual Reality, arXiv, 2024, August, https://arxiv.org/abs/2408.02319, Memmesheimer.etal.2024b,
@Article{Memmesheimer.etal.2024b,
author={Memmesheimer, Raphael; Lenz, Christian; Schwarz, Max; Schreiber, Michael; Behnke, Sven},
title={Self-Centering 3-DoF Feet Controller for Hands-Free Locomotion Control in Telepresence and Virtual Reality},
journal={arXiv},
month={August},
url={https://arxiv.org/abs/2408.02319},
year={2024},
abstract={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...}}
