an United States Patent (10) Patent No.: US 6,920,376 B2 J ouppi et al. (45) Date of Patent: Jul. 19, 2005
Inventors: Norman Paul J ouppi, Palo Alto, CA
(US); Vaughan Stanton Thomas, Palo
Alto, CA (US)
Assignee: Hewlett-Packard Development
Company, L.P., Houston, TX (US)
Notice: Subject to any disclaimer, the term of this patent is extended or adjusted under 35 U.S.C. 154(b) by 220 days.
Filed: Oct. 31, 2002
Prior Publication Data
US 2004/0088077 A1 May 6, 2004
Int. cl.’ ........................ .. G05B 15/00, GOSB 19/00 U.S. Cl. ..................... .. 700/259, 700/245, 700/246; 700/250, 700/251, 700/257, 700/258; 700/262;
Field of Search ............................... .. 700/245, 246, 700/250, 251, 253, 257-259, 262; 348/159,
6,292,713 6,666,374 6,726,096 6,726,476 6,727,935 6,785,402
2002/ 005 7279 2002/ 0063726
J ouppi, First steps toWards mutually—immersive mobile telepresence, 2002, Internet, pp. 1—10.*
Kusuoka et al., Dual ecologies of robot as communication media: Thoughts on coordinating orientations and projectability, 2004, Internet, pp. 183—190.*
Jouppi et al., A first generation mutually—immersive mobile telepresence surrogate With automatic backtracking, 2004, IEEE, pp. 1670—1675.*
HP Labs: NeWs, BiReality Audio—Video Demo, First steps toWard a mutually immersive mobile telepresence, 2002, Internet, pp. 1—2.*
Braunl et al., Improv and EyeBot real-time vision on—board mobile robots, 1997, IEEE, pp. 131—135.*
Lobo et al., Integration of inertial information With vision toWards robot autonomy, 1997, IEEE, pp. 825—830.*
Primary Examiner—Thomas G. Black
Assistant Examiner—McDieunel Marc
A system and method of mobile telepresencing includes providing a surrogate capable of vieWing outWard and of translational movement, displaying the vieWs outWard for a user and sensing rotation of a user in a direction of a vieW outWard and a user translation instruction for causing translation of the surrogate in the direction relative to the vieW outWard.
20 Claims, 4 Drawing Sheets
