University of Oulu

A motion control method for a differential drive robot based on human walking for immersive telepresence

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Author: Akhtar, Syed Jawad1
Organizations: 1University of Oulu, Faculty of Information Technology and Electrical Engineering, Computer Science
Format: ebook
Version: published version
Access: open
Online Access: PDF Full Text (PDF, 41 MB)
Pages: 38
Persistent link:
Language: English
Published: Oulu : S. Akhtar, 2023
Publish Date: 2023-06-30
Thesis type: Master's thesis (tech)
Tutor: Sakcak, Basak
Suomalainen, Markku
Reviewer: Sakcak, Basak
Suomalainen, Markku


This thesis introduces an interface for controlling Differential Drive Robots (DDRs) for telepresence applications. Our goal is to enhance immersive experience while reducing user discomfort, when using Head Mounted Displays (HMDs) and body trackers. The robot is equipped with a 360° camera that captures the Robot Environment (RE). Users wear an HMD and use body trackers to navigate within a Local Environment (LE). Through a live video stream from the robot-mounted camera, users perceive the RE within a virtual sphere known as the Virtual Environment (VE). A proportional controller was employed to facilitate the control of the robot, enabling to replicate the movements of the user. The proposed method uses chest tracker to control the telepresence robot and focuses on minimizing vection and rotations induced by the robot’s motion by modifying the VE, such as rotating and translating it. Experimental results demonstrate the accuracy of the robot in reaching target positions when controlled through the body-tracker interface. Additionally, it also reveals an optimal VE size that effectively reduces VR sickness and enhances the sense of presence.

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Copyright information: © Syed Jawad Akhtar, 2023. This publication is copyrighted. You may download, display and print it for your own personal use. Commercial use is prohibited.