Dual Robot Avatar: Real-time Multispace Experience using Telepresence Robots and Walk Sensation Feedback including Viewpoint Sharing for Immersive Virtual Tours

摘要

Traveling to different places simultaneously is a dream for several people, but it is difficult to realize this aspiration because of our physical space limits. On one hand, virtual reality technologies can help alleviate such limits. According to the best of the authors’ knowledge, there is no study attempt to operate multiple telepresence robots in remote places simultaneously, with presenting walk sensation feedback to the operator for an immersive multispace experience. In this study, we used autonomous mobile robots; a dog and wheel type one, where their movements’ direction can be controlled by an operator (Fig. 1). The operator can alternatively choose/re-choose the space (or robot) to attend and can move the viewpoint using a head-mounted display (HMD) controller. A live video image with 4 K resolution is transmitted to the HMD via web real-time communication (WebRTC) network from a 360° camera placed to the top of each robot. The operator perceives viewpoint movement feedback as a visual cue and vestibular feeling via waist motion and proprioception on the legs. Our system also allows viewpoint sharing in which fifty users can enjoy omnidirectional viewing of the remote environments through the HMD without walk-like sensation feedback.