VISUAL ENVIRONMENT AND JOYSTICK BASED CONTROL FOR HUMANOID TELEOPERATION

In the case of dark/bad light environments cameras cannot shoot images clearly for the operator to complete the task. Also, video information from camera or robot vision is not enough for some typical applications like telesurgery to pick up an object. In this paper a novel controlling approach for humanoid teleoperation using virtual reality is presented, such that the robot can work safely and accurately in such circumstances. In this regard the work has been enhanced by developing the virtual/visual environment using joystick control interface for controlling Humanoid BHR-2 motion to complete a task safely and accurately. Software Maya is chosen for this work, which can perform all the vision-related calculations. Experiments are conducted using joystick control commands where the operator controls BHR-2 walking motion while looking at virtual scene on his computer to confirm the effectiveness of novel control technique.

Foreground/Background Manipulations Affect Presence

A possible relation between vection and presence is discussed. Two experiments examined the hypothesis that “presence” is enhanced by manipulations which facilitate interpreting visual scenes as “background.” A total of 39 participants in two experiments engaged in a pursuit game while in a virtual visual environment generated by an HMD and rated their experience of “presence” on 5 questions. Experiment 1 compared two viewing conditions: visual scene masking at the eye and a paper mask mounted on the screen with the same 60° FOV, and showed that presence was enhanced by eye masking relative to screen masking. Experiment 2 replicated these findings with a double-blind experimental design.