Remote telepresence over large distances via robot avatars: case studies

TL;DR

This paper explores how to adapt a robot avatar system for effective intercontinental remote telepresence across various robot types and control modes, considering bandwidth limitations.

Contribution

It demonstrates the adaptability of a robot avatar architecture to different robot morphologies and control modes for remote telepresence.

Findings

Successful implementation with wheeled and legged robots

Effective operation under bandwidth restrictions

Compatibility with various control modes

Abstract

This paper discusses the necessary considerations and adjustments that allow a recently proposed avatar system architecture to be used with different robotic avatar morphologies (both wheeled and legged robots with various types of hands and kinematic structures) for the purpose of enabling remote (intercontinental) telepresence under communication bandwidth restrictions. The case studies reported involve robots using both position and torque control modes, independently of their software middleware.