Nao in the cloud
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Many teams in the world are working on the topic Cloud Robotics. This talk introduce you how to connect the Nao robot with the cloud to share knowledge about objects, plans and environments with other robots. With this approach it is possible, that heterogeneous robots can exchange executable robot apps among eachother. The RoboEarth webservice will be used to store robotic-specific information. Robots are able to share knowledge via RoboEarth. So Robots are not longer on their own - they can benefit from the experience other robots.
Transcript of Nao in the cloud
Outline
Motivation
Cloud Robotics
Related Work
Current Research
Conclusion
Motivation Cloud Robotics Related Work Current Research Conclusion
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Motivation
Humans learn from each other via the Internet
Robots are limited by
Costs
Hardware resources
Local knowledge
Why don‘t robots use the Internet as well?
Robots are WIFI-enabled
Robots have high-level interfaces
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Motivation Cloud Robotics Related Work Current Research Conclusion
Cloud Robotics = Cloud Computing + Robotics
Knowledge sharing
Object descriptions
Plans
Environments
Outsourcing
Speech & object recognition
Reasoning
Cloud Robotics 4
Motivation Cloud Robotics Related Work Current Research Conclusion
Origin of cloud-enabled robots 5
The idea was originated by the University of Tokyo
Remote-brained robots by Masayuki Inaba (1993) [1]
Mechanical animals using the remote-brained approach
(1994) [2]
A remote-brained full-body humanoid… (1997) [3]
A Platform for Robotics Research Based on the Remote-
Brained Robot Approach (2000) [4]
Motivation Cloud Robotics Related Work Current Research Conclusion
Advantages and Opportunities 6
Improvement of the learning mechanism
Robots benefit from the experiences of others
Robots are able to share executable plans
Handling of tasks in unknown environments
Robots are able to perform more generic challenges
Offload compute-intensive tasks
Massively-parallel computation on demand
Building of lighter, cheaper and smarter robots
Motivation Cloud Robotics Related Work Current Research Conclusion
Knowledge sharing for robots 7
RoboEarth Knowledge Database by [5]
Eindhoven University of Technology
Philips Innovation Services
University of Stuttgart
Swiss Federal Institute of Technology Zurich
University of Zaragoza
Technical University Munich
RobotShare by [6]
University of Utah
Motivation Cloud Robotics Related Work Current Research Conclusion
Outsourcing heavy tasks
Rapyuta: The RoboEarth cloud engine by [7]
The RoboEarth team
DaVinCi by [8]
Agency for Science, Technology and Research Singapore
Cloud-Based robot grasping with the Google object
recognition engine by Google [9]
Smartphone Robot Romo by Romotive [10]
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Motivation Cloud Robotics Related Work Current Research Conclusion
99 $
Current Research 9
Sharing executable plans among several Nao robots
[12]
[11]
Motivation Cloud Robotics Related Work Current Research Conclusion
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[13]
RoboEarth Motivation Cloud Robotics Related Work Current Research Conclusion
Architecture
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Ubuntu
ROS
KnowRob
CRAM-Core RoboEarth
Nao
Wrapper
Motivation Cloud Robotics Related Work Current Research Conclusion
Abstract Plan
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[14]
Motivation Cloud Robotics Related Work Current Research Conclusion
KnowRob - Request 13
re_download_action_recipe(‘serve a drink’, robot: ‘MyRobot’, Recipe),
re_generate_cpl_plan(Recipe, CplPlan).
( d e f - t o p - l e v e l - p l a n s e r v e - a - d r i n k ( ) ( wi t h - d e s i g n a t o r s ( ( b o t t l e 1 ( o b j e c t ‘ ( ( name b o t t l e 1 ) ( type d r i n k i n g - b o t t l e ) ) ) ) ( bed1 ( o b j e c t ‘ ( ( name bed1 ) ( type b e d p i e c e - o f - f u r n i t u r e ) ) ) ) ...
[15]
Motivation Cloud Robotics Related Work Current Research Conclusion
Architecture 14
[13]
[12]
Ubuntu
ROS
KnowRob
CRAM -Core RoboEarth
Nao
Wapper
Motivation Cloud Robotics Related Work Current Research Conclusion
Development of an interface between Nao and
RoboEarth via the ROS-middleware
Interface 15
[16]
[13]
[15]
(def-top-level-plan grasp-bottle () (with-designators
((fridge (object '((type fridge))))
(bottle-loc (location `((inside ,fridge))))
(bottle (object `((type bottle) (at ,bottle-loc)))))
(setf fridge (perceive-object fridge))
(achieve `(object-in-hand ,bottle :right))))
...
Motivation Cloud Robotics Related Work Current Research Conclusion
Scenario 16
Solving a task which the Nao hasn´t performed before
Scanning the RoboEarth Database for the task
Translating an abstract plan to a CRAM plan
Nao downloads the executable plan via KnowRob
Solving the task
Motivation Cloud Robotics Related Work Current Research Conclusion
Technical challenges 17
How to connect Nao with the cloud?
Is it possible that heterogeneous robots are able to share executable plans?
Different capabilities
Which kind of abstraction layer?
Latency problems
Without their wireless connection to the cloud, robots become brainless
Security problems
Would you store information about your patients in a cloud for robots ?
What happens if the cloud is hacked?
Motivation Cloud Robotics Related Work Current Research Conclusion
Conclusion 18
Cloud Robotics = Cloud Computing + Robotics
Knowledge sharing among heterogeneous robots
Offloading heavy tasks
Many projects are working on this topic
Opportunities
Improvement of the learning mechanism
Robots are able to share executable plans
Massively-parallel computation on demand
Nao in the Cloud
Middleware ROS
CRAM Plan Language
KnowRob
Motivation Cloud Robotics Related Work Current Research Conclusion
References
1. Inaba, Masayuki. Remote Brained Robots. Tokio, 1993
2. Inaba M., Kagami, S., Ishikawa, T., Kanehiro, F., Takeda, K., Inoue, H., Vision-based adaptive and interactive behaviors in mechanical animals using the remote-brained approach. Tokyo, 1994
3. Inaba M., Ninomiya, T., Hoshino, Y., Nagasaka, K., Kagami, S., Inoue, H. A remote-brained full-body humanoid with multisensor imaging system of binocular viewer, ears, wrist force and tactile sensor suit, 1997
4. Inaba M., Kagami S., Kanehiro F., Hoshino Y., Inoue H. A Platform for Robotics Research Based on the Remote-Brained Robot Approach
5. Zweigle, Molengraft, Andrea, Häussermann. RoboEarth – connecting Robots worldwide.Eindhoven, 2009
6. Fan, Xiuyi, und Thomas C. Henderson. RobotShare: A Google for Robots. 2007
7. D. Hunziker, M. Gajamohan, M. Waibel, and R. D’Andrea. Rapyuta: The RoboEarth Cloud Engine. 2013
8. Enti, V.R.; Liu Bingbing; Wu Xiaojun; Baskaran, K.; Foong Foo Kong;Kumar, A.S.; Kang Dee Meng; Goh Wai Kit. DAvinCi: A cloud computing framework for service robots. 2010
9. Ben Kehoe, Akihiro Matsukawa, Sal Candido, James Kuffner, and Ken Goldberg.. Cloud-Based Robot Grasping with the Google Object Recognition Engine. 2013
10. http://romotive.com/images/romo-frontal.png
11. http://www.roboearth.org/
12. http://asep-championship.com/wp-content/uploads/2011/11/NAO-4_cutout.png
13. D. Marco, M. Tenorth, K. Häussermann, O. Zweigle, P. Levi. RoboEarth Action Recipe Execution. 2011
14. M. Tenorth, A. Perzylo, R. Lafrenz and M. Beetz. The RoboEarth language: Representing and Exchanging Knowledge about Actions, Objects, and Environments, 2012
15. M. Beetz, L. Mösenlechner, M. Tenort. CRAM -- A Cognitive Robot Abstract Machine for Everyday Manipulation in Human Environments
16. http://ros.org/doc/groovy/api/nao_driver/html/classnao__driver_1_1nao__driver__naoqi_1_1NaoNode.html
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THANK YOU FOR
YOUR ATTENTION I´LL BE HAPPY TO ANSWER
ANY QUESTIONS!
