论文标题
OpenBot：将智能手机变成机器人
OpenBot: Turning Smartphones into Robots
论文作者
论文摘要
当前的机器人要么昂贵，要么对感官丰富性，计算能力和通信功能做出重大折衷。我们建议利用智能手机为机器人配备广泛的传感器套件，强大的计算能力，最先进的通信渠道以及访问繁荣的软件生态系统。我们设计了一辆小型电动汽车，价格为50美元，并用作标准Android智能手机的机器人车身。我们开发了一个软件堆栈，允许智能手机使用该机构进行移动操作，并证明该系统足够强大，可以支持高级机器人工作负载，例如关注人员和在非结构化环境中实时自主导航。受控实验表明，在不同的智能手机和机器人体之间，提出的方法是强大的。我们的工作视频可在https://www.youtube.com/watch?v=qc8hflywdom上找到
Current robots are either expensive or make significant compromises on sensory richness, computational power, and communication capabilities. We propose to leverage smartphones to equip robots with extensive sensor suites, powerful computational abilities, state-of-the-art communication channels, and access to a thriving software ecosystem. We design a small electric vehicle that costs $50 and serves as a robot body for standard Android smartphones. We develop a software stack that allows smartphones to use this body for mobile operation and demonstrate that the system is sufficiently powerful to support advanced robotics workloads such as person following and real-time autonomous navigation in unstructured environments. Controlled experiments demonstrate that the presented approach is robust across different smartphones and robot bodies. A video of our work is available at https://www.youtube.com/watch?v=qc8hFLyWDOM
