A Fog Robotic System for Dynamic Visual Servoing
Cloud Robotics is a paradigm where distributed robots are connected to cloud services via networks to access unlimited computation power, at the cost of network communication. However, due to limitations such as network latency and variability, it is difficult to control dynamic, human compliant service robots directly from the cloud. In this work, by leveraging asynchronous protocol with a heartbeat signal, we combine cloud robotics with a smart edge device to build a Fog Robotic system. We use the system to enable robust teleoperation of a dynamic self-balancing robot from the cloud. We first use the system to pick up boxes from static locations, a task commonly performed in warehouse logistics. To make cloud teleoperation more efficient, we deploy image based visual servoing (IBVS) to perform box pickups automatically. Visual feedbacks, including apriltag recognition and tracking, are performed in the cloud to emulate a Fog Robotic object recognition system for IBVS. We demonstrate the feasibility of real-time dynamic automation system using this cloud-edge hybrid, which opens up possibilities of deploying dynamic robotic control with deep-learning recognition systems in Fog Robotics. Finally, we show that Fog Robotics enables the self-balancing service robot to pick up a box automatically from a person under unstructured environments.
Code (0)
등록된 구현이 없습니다.
Tasks
Object RecognitionSimilar Papers 제목 키워드 기반
DynGraspVS: Servoing Aided Grasping for Dynamic Environments
Visual servoing has been gaining popularity in various real-world vision-centric robotic applications. Autonomous robotic grasping often deals with unseen and unstructured environments, and in this task, Visual Servoing …
Model Predictive ControlRobotic GraspingSim2Real View Invariant Visual Servoing by Recurrent Control
Humans are remarkably proficient at controlling their limbs and tools from a wide range of viewpoints and angles, even in the presence of optical distortions. In robotics, this ability is referred to as visual servoing: …
Reinforcement LearningSim2Real Viewpoint Invariant Visual Servoing by Recurrent Control
Humans are remarkably proficient at controlling their limbs and tools from a wide range of viewpoints. In robotics, this ability is referred to as visual servoing: moving a tool or end-point to a desired location using p…
Reinforcement LearningRobot ManipulationKOVIS: Keypoint-based Visual Servoing with Zero-Shot Sim-to-Real Transfer for Robotics Manipulation
We present KOVIS, a novel learning-based, calibration-free visual servoing method for fine robotic manipulation tasks with eye-in-hand stereo camera system. We train the deep neural network only in the simulated environm…
Data AugmentationSelf-Supervised LearningVisual Servoing for Robotic On-Orbit Servicing: A Survey
On-orbit servicing (OOS) activities will power the next big step for sustainable exploration and commercialization of space. Developing robotic capabilities for autonomous OOS operations is a priority for the space indus…
Survey