相关论文: Enabling Remote Whole-Body Control with 5G Edge Co…

Next-generation distributed computing networks (e.g., edge and fog computing) enable the efficient delivery of delay-sensitive, compute-intensive applications by facilitating access to computation resources in close proximity to end users.…

The fifth generation (5G) mobile telecommunication network is expected to support Multi- Access Edge Computing (MEC), which intends to distribute computation tasks and services from the central cloud to the edge clouds. Towards…

Driven by the visions of Internet of Things and 5G communications, the edge computing systems integrate computing, storage and network resources at the edge of the network to provide computing infrastructure, enabling developers to quickly…

This study focuses on edge computing in dense millimeter wave vehicle-to-everything (V2X) networks. A control problem is formulated to minimize the energy consumption under delay constraint resulting from vehicle mobility. A tractable…

In recent years, the 5th Generation of mobile communications has been thoroughly researched to improve the previous 4G capabilities. As opposed to earlier architectures, 5G Networks provide low latency access to services with high…

The fifth-generation (5G) mobile communication technologies are on the way to be adopted as the next standard for mobile networking. It is therefore timely to analyze the impact of 5G on the landscape of computing, in particular, data…

We study the problem of mobile manipulation using legged robots equipped with an arm, namely legged loco-manipulation. The robot legs, while usually utilized for mobility, offer an opportunity to amplify the manipulation capabilities by…

Animals locomote robustly and agile, albeit significant sensorimotor delays of their nervous system. The sensorimotor control of legged robots is implemented with much higher frequencies-often in the kilohertz range-and sensor and actuator…

Edge computing is one of the key driving forces to enable Beyond 5G (B5G) and 6G networks. Due to the unprecedented increase in traffic volumes and computation demands of future networks, multi-access (or mobile) edge computing (MEC) is…

Fifth Generation (5G) wireless networks are designed to meet various end-user Quality of Service (QoS) requirements through high data rates (typically of Gbps order) and low latencies. Coupled with Fog and Mobile Edge Computing (MEC), 5G…

Driven by the emergence of new compute-intensive applications and the vision of the Internet of Things (IoT), it is foreseen that the emerging 5G network will face an unprecedented increase in traffic volume and computation demands.…

With the increasing focus on flexible automation, which emphasizes systems capable of adapting to varied tasks and conditions, exploring future deployments of cloud and edge-based network infrastructures in robotic systems becomes crucial.…

Legged locomotion is widespread in nature and has inspired the design of current robots. The controller of these legged robots is often realized as one centralized instance. However, in nature, control of movement happens in a hierarchical…

In this paper, we devise methods for the multi- objective control of humanoid robots, a.k.a. prioritized whole- body controllers, that achieve efficiency and robustness in the algorithmic computations. We use a form of whole-body…

The ongoing surge in applications of robotics brings both opportunities and challenges for the fifth-generation (5G) and beyond (B5G) of communication networks. This article focuses on 5G/B5G-enabled terrestrial robotic communications with…

The prevalence of mobility impairments due to conditions such as spinal cord injuries, strokes, and degenerative diseases is on the rise globally. Lower-limb exoskeletons have been increasingly recognized as a viable solution for enhancing…

The Fifth Generation (5G) mobile core network is designed as a set of Virtual Network Functions (VNFs) hosted on Commercial-Off-the-Shelf (COTS) hardware. This creates a growing demand for general-purpose compute resources as 5G deployments…

Planning and execution of agile locomotion maneuvers have been a longstanding challenge in legged robotics. It requires to derive motion plans and local feedback policies in real-time to handle the nonholonomy of the kinetic momenta. To…

Robotic systems have been evolving since decades and touching almost all aspects of life, either for leisure or critical applications. Most of traditional robotic systems operate in well-defined environments utilizing pre-configured…

In this paper, we demonstrate a proof-of-concept implementation of a framework for the development of edge-connected prosthetic systems. The framework is composed of a bionic hand equipped with a camera and connected to a Jetson device that…