A Cybernetic Avatar System to Embody Human Telepresence for Connectivity, Exploration, and Skill Transfer

被引：8

作者：

Cisneros-Limon, Rafael ^{[1
]}

Dallard, Antonin ^{[1
,2
]}

Benallegue, Mehdi ^{[1
]}

Kaneko, Kenji ^{[1
]}

Kaminaga, Hiroshi ^{[1
]}

Gergondet, Pierre ^{[1
]}

Tanguy, Arnaud ^{[2
]}

Singh, Rohan Pratap ^{[1
]}

Sun, Leyuan ^{[1
]}

Chen, Yang ^{[1
,3
]}

Fournier, Carole ^{[2
]}

Lorthioir, Guillaume ^{[1
]}

Tsuru, Masato ^{[1
]}

Chefchaouni-Moussaoui, Selim ^{[1
]}

Osawa, Yukiko ^{[4
]}

Caron, Guillaume ^{[1
]}

Chappellet, Kevin ^{[1
]}

Morisawa, Mitsuharu ^{[1
]}

Escande, Adrien ^{[1
]}

Ayusawa, Ko ^{[1
]}

Houhou, Younes ^{[1
]}

Kumagai, Iori ^{[1
]}

Ono, Michio ^{[5
]}

Shirasaka, Koji ^{[5
]}

Wada, Shiryu ^{[5
]}

Wada, Hiroshi ^{[5
]}

Kanehiro, Fumio ^{[1
]}

Kheddar, Abderrahmane ^{[1
,2
]}

机构：

[1] Natl Inst Adv Ind Sci & Technol, CNRS AIST JRL Joint Robot Lab, IRL, UMI3218, Tsukuba, Japan

[2] Univ Montpellier, CNRS, Lab Informat Robot & Microelect Montpellier LIRMM, Montpellier, France

[3] Univ Tsukuba, Sch Integrat & Global Majors SIGMA, Tsukuba, Japan

[4] Natl Inst Adv Ind Sci & Technol, Ind Cyber Phys Syst Res Ctr, Tokyo, Japan

[5] Double R&D, Zama, Japan

来源：

INTERNATIONAL JOURNAL OF SOCIAL ROBOTICS | 2025年 / 17卷 / 03期

关键词：

FORCE;

D O I：

10.1007/s12369-023-01096-9

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper describes the cybernetic avatar system developed by Team JANUS for connectivity, exploration, and skill transfer: the core domains targeted by the ANA Avatar XPRIZE competition, for which Team JANUS was a finalist. We used as an avatar a humanoid robot with a human-like appearance and shape that is capable of reproducing facial expressions and walking, and built an avatar control system that allowed the operator to control the avatar through equivalent mechanisms of motion; that is, by replicating the upper-body movement with naturalness and by stepping to command locomotion. In this way, we aimed to achieve high-fidelity telepresence and managed to be well evaluated from the point of view of the operator during the competition. We introduce our solutions to the integration challenges and present experimental results to asses our avatar system, together with current limitations and how we are planning to mitigate them in future work.

引用

页码：535 / 562

页数：28

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