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iCub3 avatar system: Enabling remote fully immersive embodiment of humanoid robots
Stefano Dafarra1, Ugo Pattacini2, Giulio Romualdi1
1Artificial and Mechanical Intelligence, Istituto Italiano di Tecnologia, Genoa, Italy.
Science Robotics
|January 24, 2024
Summary
This study introduces the iCub3 humanoid robot and a versatile avatar system for human embodiment. The system enables remote control of robot locomotion, manipulation, and expressions with rich sensory feedback.
Area of Science:
- Robotics
- Human-Computer Interaction
- Mechatronics
Background:
- The iCub series has undergone 15 years of development, culminating in the advanced iCub3 humanoid robot.
- Human embodiment of humanoid robots requires sophisticated systems for control and sensory feedback.
Purpose of the Study:
- To present the iCub3 humanoid robot as an advanced robotic avatar.
- To introduce a versatile avatar system enabling human operators to embody humanoid robots.
- To validate the avatar system through real-world demonstrations.
Main Methods:
- Development and integration of an avatar system for humanoid robot embodiment.
- Implementation of control for locomotion, manipulation, voice, and facial expressions.
- Integration of comprehensive sensory feedback including visual, auditory, haptic, weight, and touch modalities.
- Validation through diverse use cases: remote art exhibition visit, live public engagement, and competition architecture.
Main Results:
- Successful remote embodiment and interaction via the iCub3 avatar in multiple scenarios.
- Demonstrated capabilities in verbal, nonverbal, and physical interactions over long distances.
- Validated system performance in physical collaboration and public engagement tasks.
- Developed specific avatar architectures for distinct applications, including a competition entry.
Conclusions:
- The presented avatar system effectively enables human embodiment of the iCub3 humanoid robot.
- The system supports complex interactions, including remote presence, physical collaboration, and public engagement.
- The iCub3 and its avatar system represent a significant advancement in humanoid robotics and remote operation.
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