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Intelligent Service Robotics

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21-12-2023 | Original Research Paper

ART: Avatar Robotics Telepresence—the future of humanoid material handling loco-manipulation

Authors: Jean Chagas Vaz, Nicolas Kosanovic, Paul Oh

Published in: Intelligent Service Robotics | Issue 2/2024

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Abstract

Material handling loco-manipulation is heavily present in humanitarian assistance and disaster relief (HADR) efforts. Consider a scenario requiring human expertise to transcend the physical location of the human body; an approach—harnessing the innately long-range and precise abilities of robotic Avatar technologies—was successfully applied to material handling and loco-manipulation tasks, proving that humanoids may play an integral role in future disaster relief. Typically, first responders, such as firefighters and/or paramedics, must carry, push, pull, and handle objects, facilitating the transportation of goods. Hence, researchers have sought to enable full-sized humanoid robots to perform such essential material handling tasks. This work aims to tackle current limitations in humanoid object interaction capabilities, specifically with common objects such as carts, wheelbarrows, etc. Furthermore, this article compiles many methods to ensure stable gait during cart loco-manipulation. The examined objects range from simple carts (such as rolling and utility carts) to challenging carts (such as wheelbarrows). Thus, the authors present a comprehensive approach to address some of the most convoluted material handling and loco-manipulation challenges in the field of humanoid robotics. Finally, promising results are showcased when ART (Avatar Robotics Telepresence) and humanoid embodiment are applied in the context of loco-manipulation and material handling.

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Title: ART: Avatar Robotics Telepresence—the future of humanoid material handling loco-manipulation
Authors: Jean Chagas Vaz
Nicolas Kosanovic
Paul Oh
Publication date: 21-12-2023
Publisher: Springer Berlin Heidelberg
Published in: Intelligent Service Robotics / Issue 2/2024
Print ISSN: 1861-2776
Electronic ISSN: 1861-2784
DOI: https://doi.org/10.1007/s11370-023-00499-x

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