让远程操控机器人跨越洲际通信限制，适配多种形态的机器人
Remote telepresence over large distances via robot avatars: case studies
- 设计通用架构，支持轮式与腿式机器人及不同手部结构
- 在低带宽下实现跨大陆远程操控，兼容位置与力控模式
- 适用于多种机器人系统，适合远程协作与跨域交互场景
本文探讨了将一种新提出的化身系统架构应用于不同机器人形态（包括轮式和腿式机器人，配备不同类型的手部和运动结构）所必需的考量与调整，旨在实现受通信带宽限制条件下的远程（跨洲际）电信身。报告的案例研究涵盖使用位置控制和力矩控制模式的机器人，且独立于其软件中间件。
原文摘要 · Abstract (English)
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.
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