Robust Immersive Telepresence and Mobile Telemanipulation: NimbRo wins ANA Avatar XPRIZE Finals

TL;DR

This paper details the development and success of the NimbRo robotic avatar system, which achieved victory at the ANA Avatar XPRIZE Finals through innovations in mobility, communication, and control for immersive telepresence.

Contribution

The paper introduces key improvements in wireless operation, control devices, and system robustness that enabled competitive performance in immersive telepresence robotics.

Findings

Won the $5M ANA Avatar XPRIZE Finals

Integrated a robust wireless communication system

Enhanced control and flexibility features

Abstract

Robotic avatar systems promise to bridge distances and reduce the need for travel. We present the updated NimbRo avatar system, winner of the $5M grand prize at the international ANA Avatar XPRIZE competition, which required participants to build intuitive and immersive robotic telepresence systems that could be operated by briefly trained operators. We describe key improvements for the finals, compared to the system used in the semifinals: To operate without a power- and communications tether, we integrated a battery and a robust redundant wireless communication system. Video and audio data are compressed using low-latency HEVC and Opus codecs. We propose a new locomotion control device with tunable resistance force. To increase flexibility, the robot's upper-body height can be adjusted by the operator. We describe essential monitoring and robustness tools which enabled the success at the competition. Finally, we analyze our performance at the competition finals and discuss lessons learned.