Team Northeastern's Approach to ANA XPRIZE Avatar Final Testing: A Holistic Approach to Telepresence and Lessons Learned
Rui Luo, Chunpeng Wang, Colin Keil, David Nguyen, Henry Mayne, Stephen Alt, Eric Schwarm, Evelyn Mendoza
Abstract
This paper reports on Team Northeastern's Avatar system for telepresence, and our holistic approach to meet the ANA Avatar XPRIZE Final testing task requirements. The system features a dual-arm configuration with hydraulically actuated glove-gripper pair for haptic force feedback. Our proposed Avatar system was evaluated in the ANA Avatar XPRIZE Finals and completed all 10 tasks, scored 14.5 points out of 15.0, and received the 3rd Place Award. We provide the details of improvements over our first generation Avatar, covering manipulation, perception, locomotion, power, network, and controller design. We also extensively discuss the major lessons learned during our participation in the competition.
BibTeX
@inproceedings{iros2023_teamnortheastern,
title = {Team Northeastern's Approach to ANA XPRIZE Avatar Final Testing: A Holistic Approach to Telepresence and Lessons Learned},
author = {Rui Luo and Chunpeng Wang and Colin Keil and David Nguyen and Henry Mayne and Stephen Alt and Eric Schwarm and Evelyn Mendoza and Taşkın Padır and John Peter Whitney},
booktitle = {IROS 2023},
year = {2023}
}