{"id":32467,"date":"2026-01-21T17:02:00","date_gmt":"2026-01-21T17:02:00","guid":{"rendered":"https:\/\/lamarr-institute.org\/publication\/self-centering-3-dof-feet-controller-for-hands-free-locomotion-control-in-telepresence-and-virtual-reality\/"},"modified":"2026-09-17T11:24:22","modified_gmt":"2026-09-17T11:24:22","slug":"self-centering-3-dof-feet-controller-for-hands-free-locomotion-control-in-telepresence-and-virtual-reality","status":"publish","type":"publication","link":"https:\/\/lamarr-institute.org\/de\/publication\/self-centering-3-dof-feet-controller-for-hands-free-locomotion-control-in-telepresence-and-virtual-reality\/","title":{"rendered":"Self-Centering 3-DoF Feet Controller for Hands-Free Locomotion Control in Telepresence and Virtual Reality"},"content":{"rendered":"<p>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&#8216; 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.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>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&#8216; orientation into locomotion commands. The [&hellip;]<\/p>\n","protected":false},"author":14,"featured_media":0,"template":"","meta":{"_acf_changed":false,"footnotes":""},"publication-type":[30],"class_list":["post-32467","publication","type-publication","status-publish","hentry","publication-type-article"],"acf":[],"publishpress_future_workflow_manual_trigger":{"enabledWorkflows":[]},"_links":{"self":[{"href":"https:\/\/lamarr-institute.org\/de\/wp-json\/wp\/v2\/publication\/32467","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/lamarr-institute.org\/de\/wp-json\/wp\/v2\/publication"}],"about":[{"href":"https:\/\/lamarr-institute.org\/de\/wp-json\/wp\/v2\/types\/publication"}],"author":[{"embeddable":true,"href":"https:\/\/lamarr-institute.org\/de\/wp-json\/wp\/v2\/users\/14"}],"version-history":[{"count":0,"href":"https:\/\/lamarr-institute.org\/de\/wp-json\/wp\/v2\/publication\/32467\/revisions"}],"wp:attachment":[{"href":"https:\/\/lamarr-institute.org\/de\/wp-json\/wp\/v2\/media?parent=32467"}],"wp:term":[{"taxonomy":"publication-type","embeddable":true,"href":"https:\/\/lamarr-institute.org\/de\/wp-json\/wp\/v2\/publication-type?post=32467"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}