Telepresence: Immersion with the iCub humanoid robot and the oculus rift

Uriel Martinez-Hernandez, Luke W. Boorman, Tony J. Prescott

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

In this paper we present an architecture for the study of telepresence and human-robot interaction. The telepresence system uses the visual and gaze control systems of the iCub humanoid robot coupled with the Oculus Rift virtual reality system. The human is able to observe a remote location from the visual feedback displayed in the Oculus Rift. The exploration of the remote environment is achieved by controlling the eyes and head of the iCub humanoid robot with orientation information from human head movements. Our system was tested from various remote locations in a local network and through the internet, producing a smooth control of the robot. This provides a robust architecture for immersion of humans in a robotic system for remote observation and exploration of the environment.

Original languageEnglish
Title of host publicationBiomimetic and Biohybrid Systems - 4th International Conference, Living Machines 2015, Proceedings
PublisherSpringer Verlag
Pages461-464
Number of pages4
ISBN (Print)9783319229782
DOIs
Publication statusPublished - 1 Jan 2015
Event4th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2015 - Barcelona, Spain
Duration: 28 Jul 201531 Jul 2015

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume9222
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference4th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2015
CountrySpain
CityBarcelona
Period28/07/1531/07/15

Keywords

  • Human-robot interaction
  • Telepresence
  • Virtual reality

ASJC Scopus subject areas

  • Computer Science(all)
  • Theoretical Computer Science

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  • Cite this

    Martinez-Hernandez, U., Boorman, L. W., & Prescott, T. J. (2015). Telepresence: Immersion with the iCub humanoid robot and the oculus rift. In Biomimetic and Biohybrid Systems - 4th International Conference, Living Machines 2015, Proceedings (pp. 461-464). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 9222). Springer Verlag. https://doi.org/10.1007/978-3-319-22979-9_46