Enhancing bodily expression and communication capacity of telexistence robot with augmented reality

Y. Inoue, M. Y. Saraiji, F. Kato, S. Tachi

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

Abstract

This paper focuses on realization of embodied remote communication via telexistence robot with augmented reality (AR). Though a robot equipped with communication functions can realize natural conversation remotely, the robot has to reproduce bodily expressions of the robot user for achieving embodied communication. A humanoid is optimal shape for the purpose, but this kind of robot is currently expensive and difficult to popularize. By contrast, a 3DOF head-moving robot is easier to develop, but the bodily expression capacity is limited. To solve the trade-off problem, we propose an AR-based presentation system visualizing additional body-parts of head-moving robot. The developed system consists of a head-mounted display (HMD) worn by an operator, a 3DOF robot controlled by the operator's head movement, and see-through AR glasses worn by an interlocutor who faces the robot. For visualizing bodily expression, the system generates 3D-CG image of virtual avatar which copies operator's body movements, and projects the image onto both operator's HMD and interlocutor's glasses simultaneously. Consequently, proposed system provides body gesture functions to 3DOF robot, and achieves embodied remote communication.

Original languageEnglish
Title of host publication21st International Symposium on Measurement and Control in Robotics, ISMCR 2018
PublisherInternational Measurement Confederation (IMEKO)
Pages49-52
Number of pages4
ISBN (Electronic)9781510890114
Publication statusPublished - 2019
Externally publishedYes
Event21st International Symposium on Measurement and Control in Robotics, ISMCR 2018 - Mons, Belgium
Duration: 2018 Sep 262018 Sep 28

Publication series

Name21st International Symposium on Measurement and Control in Robotics, ISMCR 2018

Conference

Conference21st International Symposium on Measurement and Control in Robotics, ISMCR 2018
Country/TerritoryBelgium
CityMons
Period18/9/2618/9/28

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Artificial Intelligence
  • Control and Systems Engineering

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