Intuitive and Interactive Robotic Avatar System for Tele-Existence: TEAM SNU in the ANA Avatar XPRIZE Finals

Abstract

Avatar robots enable the teleoperation and telepresence of an operator with a rich and meaningful sense of existence in another location. Robotic avatar systems rely on intuitive interactions to afford operators comfortable and accurate robot control to perform various tasks. The ability of operators to feel immersed within a robot has drawn interest in multiple research fields to explore the future capabilities of such systems. This paper presents a robotic avatar system based on a custom humanoid robot, TOCABI, with a mobile base. Its teleoperation system was developed in response to the ANA Avatar XPRIZE. Combining the life-size humanoid robot and the mobile base allows for improved mobility and dexterous manipulation. The robotic avatar system comprises the robot/base and an operator station that incorporates haptic feedback devices, trackers, a head-mounted display, gloves, and pedals. These devices connect the robot-environment interaction and operator-avatar robot experience through visual, auditory, tactile, haptic, and kinesthetic feedback. Combining the untethered battery-operated and Wi-Fi-enabled robot with these sensory experiences enables intuitive control through the operator's body movement. The performance of the robotic avatar system was evaluated through user studies and demonstrated in the ANA Avatar XPRIZE Finals, represented by Team SNU, where it completed 8 of the 10 missions, placing the team eighth among the 17 finalists.