Consumer virtual reality technology is advancing by leaps and bounds. However, efforts have been primarily focused on viewing the virtual world. To be truly immersed, people must be free to explore and interact with the environment unfettered. Unfortunately, the products that are available for home use are noticeably limited in sensation and reachable space, while those that can offer immersion are necessarily restricted to commercial spaces due to size and cost. Our team of CMU Robotics students are leveraging our expertise in areas including system design, control theory, perception and planning, and biomechanics to solve this problem. By allowing people to walk indefinitely in a virtual world from the confines of their living room, and integrating this technology with the state of the art in visual feedback and hand controls, our system will provide a truly unparalleled immersive experience from the comfort of your own home.