NimbRoがANAアバターXPRIZE没入型テレプレゼンス競技で優勝：人間中心の評価と教訓
NimbRo wins ANA Avatar XPRIZE Immersive Telepresence Competition: Human-Centric Evaluation and Lessons Learned
遠隔操作者がVRと力覚フィードバックでアバターロボットを操作し、移動・把持・会話を行うシステムを開発。ANAアバターXPRIZEで優勝し、ユーザビリティ評価と教訓を報告した。
著者: Christian Lenz, Max Schwarz, Andre Rochow, Bastian Pätzold, Raphael Memmesheimer, Michael Schreiber, Sven Behnke
分類: cs.RO
原文アブストラクト
Robotic avatar systems can enable immersive telepresence with locomotion, 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 upper body 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 omnidirectional locomotion on flat floors, controlled using a 3D rudder device. Finally, the robot features a 6D movable head with stereo cameras, which stream images to a VR display worn by the operator. Movement latency is hidden using spherical rendering. The head also carries a telepresence screen displaying an animated image of the operator's face, enabling direct interaction with remote persons. Our system won the \$10M ANA Avatar XPRIZE competition, which challenged teams to develop intuitive and immersive avatar systems that could be operated by briefly trained judges. We analyze our successful participation in the semifinals and finals and provide insight into our operator training and lessons learned. In addition, we evaluate our system in a user study that demonstrates its intuitive and easy usability.
