Tele-museum: multimedia interface and control for exploring a remote museum from home

This paper presents the design and implementation of a telepresence system, where a mobile manipulator robot is utilized to explore a museum at a remote site, sending live video, and audio on demand to a user at the local site. The user is capable of remote manipulation through the robot. The user is monitored and human intention understanding is utilized to enhance the human-robot communication. The multimedia interface and control of the system are described, allowing for the integration and fusing of the intelligence of the local human user with the intelligence of the remote robot. Research issues in achieving high fidelity telepresence are also discussed.

[1]  Grigore C. Burdea,et al.  Virtual reality and robotics in medicine , 1996, Proceedings 5th IEEE International Workshop on Robot and Human Communication. RO-MAN'96 TSUKUBA.

[2]  Won S. Kim.  Graphical operator interface for space telerobotics , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[3]  Tzyh-Jong Tarn.  Intelligent planning and control for telerobotic operations , 1995, Proceedings of IECON '95 - 21st Annual Conference on IEEE Industrial Electronics.

[4]  Massimo Bergamasco,et al.  An arm exoskeleton system for teleoperation and virtual environments applications , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[5]  Alberto Rovetta,et al.  Evaluation of human control in telerobotics by means of EMG , 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).

[6]  Darwin G. Caldwell,et al.  Tele-presence: visual, audio and tactile feedback and control of a twin armed mobile robot , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[7]  I. Lin.  Interactive Environment Modeling and Vision-based Task Speciication for a Teleoperated Mobile Robot , 1995 .

[8]  Lynette A. Jones,et al.  A Teleoperated Microsurgical Robot and Associated Virtual Environment for Eye Surgery , 1993, Presence: Teleoperators & Virtual Environments.

[9]  Tsutomu Miyasato,et al.  Virtual space teleconferencing "Communication with realistic sensations" , 1995, Proceedings 4th IEEE International Workshop on Robot and Human Communication.

[10]  Kenneth Y. Goldberg,et al.  Desktop teleoperation via the World Wide Web , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[11]  John F. Canny,et al.  Delivering real reality to the World Wide Web via telerobotics , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[12]  T B Sheridan,et al.  Teleoperator Performance with Varying Force and Visual Feedback , 1994, Human factors.

[13]  Paolo Fiorini,et al.  Toward integrated operator interface for advanced teleoperation under time-delay , 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).

[14]  Martin Boyer.  Systems integration in telerobotics: case study: maintenance of electric power lines , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[15]  Richard P. Paul,et al.  Visual imagery for subsea teleprogramming , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[16]  Blake Hannaford,et al.  Performance testing of passive communication and control in teleoperation with time delay , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[17]  Sukhan Lee,et al.  Computer control of space-borne teleoperators with sensory feedback , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[18]  Gilles Clement,et al.  Computer aided teleoperation: from arm to vehicle control , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[19]  Kazuhiro Kosuge,et al.  Unified approach for teleoperation of virtual and real environment-manipulation based on reference dynamics , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[20]  Susumu Tachi,et al.  Experimental Study on Remote Manipulation Using Virtual Reality , 1993, Presence: Teleoperators & Virtual Environments.