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Journal Articles International Journal of Social Robotics Year : 2024

A cybernetic avatar system to embody human telepresence for connectivity, exploration, and skill transfer

Rafael Cisneros-Limón
Mehdi Benallegue
Kenji Kaneko
  • Function : Author
  • PersonId : 1261530
Hiroshi Kaminaga
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  • PersonId : 1343922
Pierre Gergondet
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  • PersonId : 935991
Arnaud Tanguy
Rohan Pratap Singh
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  • PersonId : 1261529
Leyuan Sun
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  • PersonId : 1261505
Yang Chen
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  • PersonId : 1261504
Carole Fournier
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  • PersonId : 1343923
Guillaume Lorthioir
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  • PersonId : 1343924
Masato Tsuru
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  • PersonId : 1343925
Kevin Chappellet
Mitsuharu Morisawa
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  • PersonId : 1149150
Adrien Escande
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  • PersonId : 1343928
Ko Ayusawa
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  • PersonId : 1343929
Younes Houhou
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  • PersonId : 1343930
Iori Kumagai
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  • PersonId : 1343931
Michio Ono
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  • PersonId : 1343932
Koji Shirasaka
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  • PersonId : 1343933
Shiryu Wada
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  • PersonId : 1343934
Hiroshi Wada
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  • PersonId : 1343935
Fumio Kanehiro

Abstract

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.
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Dates and versions

hal-04425539 , version 1 (30-01-2024)

Identifiers

  • HAL Id : hal-04425539 , version 1

Cite

Rafael Cisneros-Limón, Antonin Dallard, Mehdi Benallegue, Kenji Kaneko, Hiroshi Kaminaga, et al.. A cybernetic avatar system to embody human telepresence for connectivity, exploration, and skill transfer. International Journal of Social Robotics, inPress. ⟨hal-04425539⟩
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