تقرير
NimbRo Avatar: Interactive Immersive Telepresence with Force-Feedback Telemanipulation
| العنوان: | NimbRo Avatar: Interactive Immersive Telepresence with Force-Feedback Telemanipulation |
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| المؤلفون: | Schwarz, Max, Lenz, Christian, Rochow, Andre, Schreiber, Michael, Behnke, Sven |
| سنة النشر: | 2021 |
| المجموعة: | Computer Science |
| مصطلحات موضوعية: | Computer Science - Robotics |
| الوصف: | Robotic avatars promise immersive teleoperation with human-like manipulation and communication capabilities. We present such an avatar system, based on the key components of immersive 3D visualization and transparent force-feedback telemanipulation. Our avatar robot features an anthropomorphic bimanual arm configuration with dexterous hands. The remote human operator drives the arms and fingers through an exoskeleton-based operator station, which provides force feedback both at the wrist and for each finger. The robot torso is mounted on a holonomic base, providing locomotion capability in typical indoor scenarios, controlled using a 3D rudder device. Finally, the robot features a 6D movable head with stereo cameras, which stream images to a VR HMD worn by the operator. Movement latency is hidden using spherical rendering. The head also carries a telepresence screen displaying a synthesized image of the operator with facial animation, which enables direct interaction with remote persons. We evaluate our system successfully both in a user study with untrained operators as well as a longer and more complex integrated mission. We discuss lessons learned from the trials and possible improvements. Comment: Accepted final version. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, September 2021 |
| نوع الوثيقة: | Working Paper |
| الوصول الحر: | http://arxiv.org/abs/2109.13772Test |
| رقم الانضمام: | edsarx.2109.13772 |
| قاعدة البيانات: | arXiv |
| الوصف غير متاح. |