  We present a novel seated foot controller for handling 3-DOF aimed to control
locomotion for telepresence robotics and virtual reality environments. Tilting
the feet on two axes yields in forward, backward and sideways motion. In
addition, a separate rotary joint allows for rotation around the vertical axis.
Attached springs on all joints self-center the controller. The HTC Vive tracker
is used to translate the trackers' orientation into locomotion commands. The
proposed self-centering foot controller was used successfully for the ANA
Avatar XPRIZE competition, where a naive operator traversed the robot through a
longer distance, surpassing obstacles while solving various interaction and
manipulation tasks in between. We publicly provide the models of the mostly
3D-printed feet controller for reproduction.
