Self-centering 3-DoF feet controller for hands-free locomotion control in telepresence and virtual reality
<|reference_start|>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.<|reference_end|>
@article{memmesheimer2024self-centering,
    title={Self-centering 3-DoF feet controller for hands-free locomotion control
  in telepresence and virtual reality},
    author={Raphael Memmesheimer, Christian Lenz, Max Schwarz, Michael Schreiber,
  Sven Behnke},
    journal={arXiv preprint arXiv:2408.02319},
    year={2024},
    archivePrefix={arXiv},
    eprint={2408.02319},
    primaryClass={cs.RO cs.HC}
}