Enabling Remote Whole-Body Control with 5G Edge Computing
| Autor: | Sundeep Rangan, Marco Mezzavilla, Manali Sharma, Jia Shen, Huaijiang Zhu, Kai Pfeiffer, Ludovic Righetti |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
Signal Processing (eess.SP)
FOS: Computer and information sciences 0209 industrial biotechnology Edge device Computer science business.industry Distributed computing 020206 networking & telecommunications Cloud computing 02 engineering and technology Computer Science - Robotics 020901 industrial engineering & automation Control theory Robustness (computer science) FOS: Electrical engineering electronic engineering information engineering 0202 electrical engineering electronic engineering information engineering Robot Electrical Engineering and Systems Science - Signal Processing business Robotics (cs.RO) Wireless sensor network Edge computing Robot locomotion |
| Zdroj: | IROS |
| DOI: | 10.1109/iros45743.2020.9341113 |
| Popis: | Real-world applications require light-weight, energy-efficient, fully autonomous robots. Yet, increasing autonomy is oftentimes synonymous with escalating computational requirements. It might thus be desirable to offload intensive computation—not only sensing and planning, but also low-level whole-body control—to remote servers in order to reduce on-board computational needs. Fifth Generation (5G) wireless cellular technology, with its low latency and high bandwidth capabilities, has the potential to unlock cloud-based high performance control of complex robots. However, state-of-the-art control algorithms for legged robots can only tolerate very low control delays, which even ultra-low latency 5G edge computing can sometimes fail to achieve. In this work, we investigate the problem of cloud-based whole-body control of legged robots over a 5G link. We propose a novel approach that consists of a standard optimization-based controller on the network edge and a local linear, approximately optimal controller that significantly reduces on-board computational needs while increasing robustness to delay and possible loss of communication. Simulation experiments on humanoid balancing and walking tasks that includes a realistic 5G communication model demonstrate significant improvement of the reliability of robot locomotion under jitter and delays likely to be experienced in 5G wireless links. |
| Databáze: | OpenAIRE |
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