제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Navigation Algorithm using Locomotion Interface with Two 6-DOF Robotic Manipulators (ICCAS 2005)

  • Yoon, Jung-Won (Intelligent Robot Research Division, Electronics and Telecommunications Research Institute (ETRI)) ;
  • Ryu, Je-Ha (Department of Mechatronics, Gwangju Institute of Science and Technology (GIST))
  • Published : 2005.06.02
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Abstract

This paper describes a novel navigation algorithm using a locomotion interface with two 6-DOF parallel robotic manipulators. The suggested novel navigation system can induce user's real walking and generate realistic visual feedback during navigation, using robotic manipulators. For realistic visual feedback, the virtual environment is designed with three components; 3D object modeler for buildings and terrains, scene manager and communication manager component. The walking velocity of the user is directly translated to VR actions for navigation. Finally, the functions of the RPC interface are utilized for each interaction mode. The suggested navigation system can allow a user to explore into various virtual terrains with real walking and realistic visual feedback.

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