Teledrive: 身体性AIを活用した遠隔操作ロボットシステム
Teledrive: An Embodied AI based Telepresence System
遠隔地のロボットを音声指示で操作し、目標エリアへの自律移動や人物追従を可能にする、身体性AI搭載のテレプレゼンスシステムを提案・評価した。
著者: Snehasis Banerjee, Sayan Paul, Ruddradev Roychoudhury, Abhijan Bhattacharya, Chayan Sarkar, Ashis Sau, Pradip Pramanick, Brojeshwar Bhowmick
分類: cs.RO
原文アブストラクト
This article presents Teledrive, a telepresence robotic system with embodied AI features that empowers an operator to navigate the telerobot in any unknown remote place with minimal human intervention. We conceive Teledrive in the context of democratizing remote care-giving for elderly citizens as well as for isolated patients, affected by contagious diseases. In particular, this paper focuses on the problem of navigating to a rough target area (like bedroom or kitchen) rather than pre-specified point destinations. This ushers in a unique AreaGoal based navigation feature, which has not been explored in depth in the contemporary solutions. Further, we describe an edge computing-based software system built on a WebRTC-based communication framework to realize the aforementioned scheme through an easy-to-use speech-based human-robot interaction. Moreover, to enhance the ease of operation for the remote caregiver, we incorporate a person following feature, whereby a robot follows a person on the move in its premises as directed by the operator. Moreover, the system presented is loosely coupled with specific robot hardware, unlike the existing solutions. We have evaluated the efficacy of the proposed system through baseline experiments, user study, and real-life deployment.
