  Our research explores the potential of a humanoid robot for work in
unpredictable environments, but controlling a humanoid robot remains a very
difficult problem. In our previous work, we designed a prototype virtual
reality (VR) interface to allow an operator to command a humanoid robot.
However, while usable, the initial interface was not sufficient for commanding
the robot to perform the tasks; for example, in some cases, there was a lack of
precision available for robot control. The interface was overly cumbersome in
some areas as well. In this paper, we discuss numerous additions, inspired by
traditional interfaces and virtual reality video games, to our prior
implementation, providing additional ways to visualize and command a humanoid
robot to perform difficult tasks within a virtual world.
