Although telepresence assistive robots have made significant progress, they still lack the sense of realism and physical presence of the remote operator. This results in a lack of trust and adoption of such robots. In this paper, we introduce an Avatar Robot System which is a mixed real/virtual robotic system that physically interacts with a person in proximity of the robot. The robot structure is overlaid with the 3D model of the remote caregiver and visualized through Augmented Reality (AR). In this way, the person receives haptic feedback as the robot touches him/her. We further present an Optimal Non-Iterative Alignment solver that solves for the optimally aligned pose of 3D Human model to the robot (shoulder to the wrist non-iteratively). The proposed alignment solver is stateless, achieves optimal alignment and faster than the baseline solvers (demonstrated in our evaluations). We also propose an evaluation framework that quantifies the alignment quality of the solvers through multifaceted metrics. We show that our solver can consistently produce poses with similar or superior alignments as IK-based baselines without their potential drawbacks.
Remote telepresence over large distances via robot avatars: case studies
Artificial and Mechanical Intelligence AMI (Italian Insititute of Technology)（人工与机械智能AMI（意大利理工学院））；Frontier Robotics, Innovative Research Excellence（前沿机器人，创新研究卓越；本田研发）；Honda R&D（机器学习与优化，曼彻斯特大学）；Machine Learning and Optimisation, The University of Manchester
Autonomous and Teleoperation Control of a Drawing Robot Avatar
Munich Institute of Robotics and Machine Intelligence, Technical University of Munich（慕尼黑工业大学慕尼黑机器人与机器智能研究所）；Centre for Tactile Internet with Human-in-the-Loop (CeTI)（人机协作触觉互联网中心）；Omar Al-Mukhtar University (OMU)（奥马尔·阿尔-穆赫塔尔大学）；Technische Universität Dresden（德累斯顿工业大学）；Franka Emika GmbH（Franka Emika公司）
The $10 Million ANA Avatar XPRIZE Competition Advanced Immersive Telepresence Systems
AvaDynamics（阿瓦动力学）；UNIST（蔚山国家科学技术研究院）；Tangible AVATRINA（坦吉布尔阿瓦特里纳）；Pollen（波伦）；Janus（雅努斯）；Inbiodroid（因比奥德罗伊德）；Avatar-Hubo（阿瓦塔-胡博）；SNU（首尔国立大学）；AlterEgo；iCub；Cyberselves（网络自我）；NimbRo；Northeastern（东北大学）；Last Mile（最后一英里）；Dragon Tree Labs（龙树实验室）
本文总结2022年 ANA Avatar XPRIZE 决赛，介绍实时远程化身机器人系统的任务评估、比赛结果、获胜方案与经验。
Identifying Influential Actions in Human-Robot Interactions
Guardian Robot Project, R-IH, Riken, Kyoto, Japan（守卫机器人项目，R-IH，Riken，京都，日本）；Faculty of Engineering, Monash University, Melbourne, Australia（工程学院，墨尔本大学，澳大利亚）；Graduate school of engineering science, Osaka University, Osaka, Japan（工程科学研究生院，大阪大学，日本）；Faculty of engineering, Tokyo University of Science, Tokyo, Japan（工程学院，东京科学大学，日本）
Integrating Open-World Shared Control in Immersive Avatars
University of Illinois at Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）；Department of Computer Science（计算机科学系）；Department of Mechanical Science and Engineering（机械科学与工程系）
Alter-Art: Exploring Embodied Artistic Creation through a Robot Avatar
Soft Robotics for Human Cooperation and Rehabilitation（人类协作与康复软机器人）；Istituto Italiano di Tecnologia（意大利技术研究院）；Dipartimento di Ingegneria dell’Informazione（信息工程学院）
Analysis and Perspectives on the ANA Avatar XPRIZE Competition
University of Illinois at Urbana-Champaign（伊利诺伊大学厄巴纳-香槟分校）；University of Gloucestershire（格洛斯特郡大学）；UNIST（蔚山国立科学技术院）；MACE Virtual Labs（MACE虚拟实验室）；University of Bonn（波恩大学）；B98 Ventures LLC（B98风险投资有限责任公司）；Istituto Italiano di Tecnologia（意大利技术研究院）；TNO（荷兰应用科学研究组织）；University of Twente（特文特大学）；Texas A&M University（德克萨斯农工大学）；Tangible Research（Tangible研究公司）；California State University, Chico（加州州立大学奇科分校）；Cornell University（康奈尔大学）；INRIA（法国国家信息与自动化研究所）；Université de Lorraine（洛林大学）；CNRS（法国国家科学研究中心）；CNRS-AIST Joint Robotics Laboratory, IRL3218（法国国家科学研究中心-产业技术综合研究所联合机器人实验室（IRL3218））；University of Montpellier（蒙彼利埃大学）
Inferring Operator Emotions from a Motion-Controlled Robotic Arm
School of Engineering, University of Glasgow（格拉斯哥大学工程学院）；Lyle School of Engineering, Southern Methodist University（南方 Methodist 大学莱尔工程学院）；School of Computing, University of Glasgow（格拉斯哥大学计算学院）；University of Manchester（曼彻斯特大学）
Feelium: A Touchable Blimp Body for Aerial Telepresence
Stony Brook University（石溪大学）；New York University（纽约大学）；Massachusetts Institute of Technology（麻省理工学院）；Middlebury Institute of International Studies at Monterey（明德蒙特雷国际研究院）
