Although telepresence assistive robots have made significant progress, they still lack the sense of realism and physical presence of the remote operator. This results in a lack of trust and adoption of such robots. In this paper, we introduce an Avatar Robot System which is a mixed real/virtual robotic system that physically interacts with a person in proximity of the robot. The robot structure is overlaid with the 3D model of the remote caregiver and visualized through Augmented Reality (AR). In this way, the person receives haptic feedback as the robot touches him/her. We further present an Optimal Non-Iterative Alignment solver that solves for the optimally aligned pose of 3D Human model to the robot (shoulder to the wrist non-iteratively). The proposed alignment solver is stateless, achieves optimal alignment and faster than the baseline solvers (demonstrated in our evaluations). We also propose an evaluation framework that quantifies the alignment quality of the solvers through multifaceted metrics. We show that our solver can consistently produce poses with similar or superior alignments as IK-based baselines without their potential drawbacks.
翻译:虽然远程现场辅助机器人取得了显著进展,但他们仍然缺乏现实感和远程操作员的实际存在感。 这导致缺乏信任和采用此类机器人。 在本文中,我们引入了Avatar机器人系统,这是一个与机器人附近的人进行物理互动的混合真实/虚拟机器人系统。机器人结构与远程护理员的3D模型重叠,并通过增强现实(AR)视觉化。这样,当机器人接触机器人时,人们会收到偶然的反馈。我们进一步向机器人展示一个最佳非动态非动态对齐配置3D人类模型的优化非动态对齐解决方案(应手腕非刻意地),拟议中的校准解决方案是无国籍的,实现了最佳对齐,速度比基线解决方案更快(我们在评估中演示)。我们还提议了一个评估框架,通过多维度度度度度测量来量化解决方案的校准质量。我们显示,我们的解决方案可以持续以类似或更高级的对齐度,如基于 IK 的基线,没有潜在的后背图。</s>