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.

翻译：机器人化身系统能够通过移动、操作和通信能力实现沉浸式远程临场。本文提出一种基于沉浸式3D可视化与透明力反馈遥操作关键组件的化身系统。我们的化身机器人采用具有灵巧手的拟人化上半身设计。远程操作员通过基于外骨骼的操作站驱动手臂和手指，该操作站能够提供手腕及每个手指的力反馈。机器人躯干安装在全向移动基座上，可在平坦地面实现全向移动，并通过3D舵控制装置进行操控。最后，机器人配备可六自由度移动的立体摄像头头部，将图像流传输至操作员佩戴的VR显示器，并通过球面渲染技术隐藏运动延迟。头部还搭载显示操作员面部动画的远程临场屏幕，从而实现对远端人员的直接交互。本系统赢得了1000万美元的ANA Avatar XPRIZE竞赛，该竞赛要求团队开发可由短期培训裁判操作的直观沉浸式化身系统。我们分析了在半决赛和决赛中的成功表现，并分享了操作员培训策略及经验教训。此外，通过用户研究验证了系统的直观易用性。