Proceedings ArticleDOI
Robot Web Tools: Efficient messaging for cloud robotics
Russell Toris,Julius Kammerl,David V. Lu,Jihoon Lee,Odest Chadwicke Jenkins,Sarah Osentoski,Mitchell Wills,Sonia Chernova +7 more
- pp 4530-4537
TLDR
These efforts with Robot Web Tools are described to advance: 1) human-robot interaction through usable client and visualization libraries for more efficient development of front-end human- robot interfaces, and 2) cloud robotics through more efficient methods of transporting high-bandwidth topics.Abstract:
Since its official introduction in 2012, the Robot Web Tools project has grown tremendously as an open-source community, enabling new levels of interoperability and portability across heterogeneous robot systems, devices, and front-end user interfaces. At the heart of Robot Web Tools is the rosbridge protocol as a general means for messaging ROS topics in a client-server paradigm suitable for wide area networks, and human-robot interaction at a global scale through modern web browsers. Building from rosbridge, this paper describes our efforts with Robot Web Tools to advance: 1) human-robot interaction through usable client and visualization libraries for more efficient development of front-end human-robot interfaces, and 2) cloud robotics through more efficient methods of transporting high-bandwidth topics (e.g., kinematic transforms, image streams, and point clouds). We further discuss the significant impact of Robot Web Tools through a diverse set of use cases that showcase the importance of a generic messaging protocol and front-end development systems for human-robot interaction.read more
Citations
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Journal ArticleDOI
Internet of Robotic Things: Concept, Technologies, and Challenges
TL;DR: A novel concept—IoRT is presented that highlights architectural principles, vital characteristics, as well as research challenges of this term to provide a better understanding of the architectural assimilation of IoRT and identify important research directions on this term.
Journal ArticleDOI
A Comprehensive Survey of Recent Trends in Cloud Robotics Architectures and Applications
TL;DR: In this survey paper, the recent works in the area of cloud robotics technologies as well as its applications are reviewed and insights about the current trends in cloud robotics are drawn.
Proceedings ArticleDOI
Transparent role assignment and task allocation in human robot collaboration
TL;DR: This work implements a transparent task planner able to be deployed in realistic, near-future applications capable of basic reasoning capabilities for what concerns role assignment and task allocation, and it interfaces with the human partner at the level of abstraction he is most comfortable with.
Proceedings ArticleDOI
ROS Reality: A Virtual Reality Framework Using Consumer-Grade Hardware for ROS-Enabled Robots
TL;DR: This group has designed a VR teleoperation package for the Robot Operating System (ROS), ROS Reality, that can be easily integrated into existing robotic frameworks and hopes this system will be adopted by other research groups to allow for easy integration of VR teleoperated robots into future experiments.
Journal ArticleDOI
Communicating and controlling robot arm motion intent through mixed-reality head-mounted displays:
Eric L. Rosen,David Whitney,Elizabeth Phillips,Gary Chien,James Tompkin,George Konidaris,Stefanie Tellex +6 more
TL;DR: This work proposes a mixed-reality head-mounted display (HMD) visualization of the intended robot motion over the wearer's real-world view of the robot and its environment, and describes its implementation, which connects a ROS-enabled robot to the HoloLens using ROS Reality, using MoveIt for motion planning, and using Unity to render the visualization.
References
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Proceedings Article
ROS: an open-source Robot Operating System
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Proceedings Article
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Journal ArticleDOI
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Proceedings ArticleDOI
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