TY - JOUR
T1 - Immersive Commodity Telepresence with the AVATRINA Robot Avatar
AU - Correia Marques, Joao Marcos
AU - Naughton, Patrick
AU - Peng, Jing Chen
AU - Zhu, Yifan
AU - Nam, James Seungbum
AU - Kong, Qianxi
AU - Zhang, Xuanpu
AU - Penmetcha, Aman
AU - Ji, Ruifan
AU - Fu, Nairen
AU - Ravibaskar, Vignesh
AU - Yan, Ryan
AU - Malhotra, Neil
AU - Hauser, Kris
N1 - Publisher Copyright:
© 2024, The Author(s), under exclusive licence to Springer Nature B.V.
PY - 2024
Y1 - 2024
N2 - Immersive robotic avatars have the potential to aid and replace humans in a variety of applications such as telemedicine and search-and-rescue operations, reducing the need for travel and the risk to people working in dangerous environments. Many challenges, such as kinematic differences between people and robots, reduced perceptual feedback, and communication latency, currently limit how well robot avatars can achieve full immersion. This paper presents AVATRINA, a teleoperated robot designed to address some of these concerns and maximize the operator’s capabilities while using a commodity light-weight human–machine interface. Team AVATRINA took 4th place at the recent $10 million ANA Avatar XPRIZE competition, which required contestants to design avatar systems that could be controlled by novice operators to complete various manipulation, navigation, and social interaction tasks. This paper details the components of AVATRINA and the design process that contributed to our success at the competition. We highlight a novel study on one of these components, namely the effects of baseline-interpupillary distance matching and head mobility for immersive stereo vision and hand-eye coordination.
AB - Immersive robotic avatars have the potential to aid and replace humans in a variety of applications such as telemedicine and search-and-rescue operations, reducing the need for travel and the risk to people working in dangerous environments. Many challenges, such as kinematic differences between people and robots, reduced perceptual feedback, and communication latency, currently limit how well robot avatars can achieve full immersion. This paper presents AVATRINA, a teleoperated robot designed to address some of these concerns and maximize the operator’s capabilities while using a commodity light-weight human–machine interface. Team AVATRINA took 4th place at the recent $10 million ANA Avatar XPRIZE competition, which required contestants to design avatar systems that could be controlled by novice operators to complete various manipulation, navigation, and social interaction tasks. This paper details the components of AVATRINA and the design process that contributed to our success at the competition. We highlight a novel study on one of these components, namely the effects of baseline-interpupillary distance matching and head mobility for immersive stereo vision and hand-eye coordination.
KW - Haptics
KW - Robotics
KW - Teleoperation
KW - Telepresence
UR - http://www.scopus.com/inward/record.url?scp=85182478773&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85182478773&partnerID=8YFLogxK
U2 - 10.1007/s12369-023-01090-1
DO - 10.1007/s12369-023-01090-1
M3 - Article
AN - SCOPUS:85182478773
SN - 1875-4791
JO - International Journal of Social Robotics
JF - International Journal of Social Robotics
ER -