堅牢な没入型テレプレゼンスと移動遠隔操作：NimbRoがANAアバターXPRIZE決勝で優勝
Robust Immersive Telepresence and Mobile Telemanipulation: NimbRo wins ANA Avatar XPRIZE Finals
国際的なANAアバターXPRIZE決勝で優勝したNimbRoアバターシステムの改良点を報告し、バッテリー駆動、冗長無線通信、低遅延コーデック、可変抵抗の移動制御装置、上体高さ調整などを導入した。
著者: Max Schwarz, Christian Lenz, Raphael Memmesheimer, Bastian Pätzold, Andre Rochow, Michael Schreiber, Sven Behnke
分類: cs.RO
原文アブストラクト
Robotic avatar systems promise to bridge distances and reduce the need for travel. We present the updated NimbRo avatar system, winner of the $5M grand prize at the international ANA Avatar XPRIZE competition, which required participants to build intuitive and immersive robotic telepresence systems that could be operated by briefly trained operators. We describe key improvements for the finals, compared to the system used in the semifinals: To operate without a power- and communications tether, we integrated a battery and a robust redundant wireless communication system. Video and audio data are compressed using low-latency HEVC and Opus codecs. We propose a new locomotion control device with tunable resistance force. To increase flexibility, the robot's upper-body height can be adjusted by the operator. We describe essential monitoring and robustness tools which enabled the success at the competition. Finally, we analyze our performance at the competition finals and discuss lessons learned.
