Remote telepresence over large distances via robot avatars: case studies

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. In Walt Disney's carousel of progress, actions of an actor wearing a "control harness" are pre-recorded on tapes and The actions and facial expressions, when played back, are almost life-like inspiring awe in the audience. Even with the lack of feedback to the actor, and the limited distance covered, this represents an early example (being now a 60-if; (i) on the operator side; the feeling of being present year-old attraction) of a telerobotic application. For instance, applications thus necessitate both manipulation and/or there needs to be a "face" encouraging social interaction locomotion capabilities on the part of the robotic avatar.