Skip to Main content Skip to Navigation
Theses

Analysis of sensory requirement and control framework for whole body embodiment of a humanoid robot for interaction with the environment and self

Damien Petit 1
1 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : Humanoid robot surrogates promise new applications in the field of human robot interactions and assistive robotics. However, whole body embodiment for teleoperation or telepresence with mobile robot avatars is yet to be fully explored and understood. In this thesis, we focus on exploring the feeling of embodiment when one navigates and interacts with the environment or with one's self through a humanoid robot. First, we show a framework devised to realize scenarios of navigation and self interaction. The framework uses a brain-computer interface to control a humanoid robot and relies on several computer vision components to assist the user navigate and interact with the environment and one's self. Two scenarios are then realized with this framework where the users control a humanoid robot to realize self interaction tasks. We then explore in details key issues encountered during those scenarios. First, we investigate how the reduced controllability and feedback of the users affect their feeling of embodiment towards the walking surrogate. We then present the result of a study focused on the feeling experienced by the user when controlling the humanoid arm to ``touch'' the environment and then one's self. The result shows that despite the lack of feedback in the control, and recognizing themselves, users stay embody in the surrogate, and experience the touch in their hands through it.
Document type :
Theses
Complete list of metadata

https://tel.archives-ouvertes.fr/tel-03221156
Contributor : Abes Star :  Contact
Submitted on : Friday, May 7, 2021 - 5:53:09 PM
Last modification on : Tuesday, May 18, 2021 - 3:06:39 AM

File

PETIT_2015_archivage.pdf
Version validated by the jury (STAR)

Identifiers

  • HAL Id : tel-03221156, version 1

Collections

Citation

Damien Petit. Analysis of sensory requirement and control framework for whole body embodiment of a humanoid robot for interaction with the environment and self. Automatic. Université Montpellier, 2015. English. ⟨NNT : 2015MONTS285⟩. ⟨tel-03221156⟩

Share

Metrics

Record views

107

Files downloads

54