ICRA 2012 Paper Abstract

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Paper WeC310.5

Pitzer, Benjamin (Robert Bosch LLC), Osentoski, Sarah (Robert Bosch LLC), Jay, Graylin (Brown University), Crick, Christopher (Brown University), Jenkins, Odest Chadwicke (Brown University)

PR2 Remote Lab: An Environment for Remote Development and Experimentation

Scheduled for presentation during the Interactive Session "Interactive Session WeC-3" (WeC310), Wednesday, May 16, 2012, 15:30−16:00, Ballroom D

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on October 24, 2017

Keywords Networked Robots, Robotic Software, Middleware and Programming Environments, Telerobotics

Abstract

In this paper, we describe a remote lab system that allows remote groups to access a shared PR2. This lab will enable a larger and more diverse group of researchers to participate directly in state-of-the-art robotics research and will improve the reproducibility and comparability of robotics experiments. We identify a set of requirements that apply to all web-based remote laboratories and focus on solutions to these requirements. Specifically, we present solutions to interface, control and design difficulties in the client and server-side software when implementing a remote laboratory architecture. The combination of shared physical hardware and shared middleware software allows for experiments that build upon and compare against results on the same platform and in the same environment for common tasks. We describe how researchers can interact with the PR2 and its environment remotely through a web interface, as well as develop similar interfaces to visualize and run experiments remotely.

 

 

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