CloudGripper：一个面向机器人操作研究、基准测试和大规模数据收集的开源云机器人测试平台
CloudGripper: An Open Source Cloud Robotics Testbed for Robotic Manipulation Research, Benchmarking and Data Collection at Scale
AI总结：
CloudGripper是一个由32个低成本机器人臂工作单元组成的开源云机器人测试平台，支持高吞吐量远程实验与数据收集，并发布了包含超百小时推绳交互和约400万张图像的CloudGripper-Rope-100数据集以验证其大规模数据收集能力。
摘要：
我们提出CloudGripper，一个开源云机器人测试平台，由可扩展、节省空间和成本的设计构成，其结构为包含32个小型机器人臂工作单元的机架。每个机器人工作单元完全封闭，配备独立照明、一个低成本定制的5自由度笛卡尔机器人臂（带有并联夹爪）以及用于实验的双摄像头设置。系统设计聚焦于连续运行，并具备10 Gbit/s网络连接，允许高吞吐量的远程控制实验和机器人操作数据收集。CloudGripper还旨在形成一个社区测试平台，以研究机器人操作背景下大规模机器学习以及云和边缘计算的挑战。在这项工作中，我们描述了系统的机械设计、其初始软件栈，并评估了所提出的机器人臂设计执行动作的可重复性。还提供了本地网络API吞吐量和延迟分析。CloudGripper-Rope-100数据集收集了超过一百小时的随机推绳交互和约400万张摄像头图像，作为展示数据收集能力的概念验证。更多信息的项目网站可在https://cloudgripper.org获取。
英文摘要：
We present CloudGripper, an open source cloud robotics testbed, consisting of a scalable, space and cost-efficient design constructed as a rack of 32 small robot arm work cells. Each robot work cell is fully enclosed and features individual lighting, a low-cost custom 5 degree of freedom Cartesian robot arm with an attached parallel jaw gripper and a dual camera setup for experimentation. The system design is focused on continuous operation and features a 10 Gbit/s network connectivity allowing for high throughput remote-controlled experimentation and data collection for robotic manipulation. CloudGripper furthermore is intended to form a community testbed to study the challenges of large scale machine learning and cloud and edge-computing in the context of robotic manipulation. In this work, we describe the mechanical design of the system, its initial software stack and evaluate the repeatability of motions executed by the proposed robot arm design. A local network API throughput and latency analysis is also provided. CloudGripper-Rope-100, a dataset of more than a hundred hours of randomized rope pushing interactions and approximately 4 million camera images is collected and serves as a proof of concept demonstrating data collection capabilities. A project website with more information is available at https://cloudgripper.org.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
