An RGB-D Camera-Based Multi-Small Flying Anchors Control for Wire-Driven Robots Connecting to the Environment
🤖 AI Summary
Cable-driven robots traditionally rely on pre-installed, fixed anchor points, limiting their autonomy and adaptability in unknown or unstructured environments. Method: This paper proposes an autonomous multi-anchoring framework leveraging multiple micro aerial vehicle (MAV)-based flying anchors equipped with RGB-D sensing and vision-based servoing. The system autonomously identifies feasible anchoring targets (e.g., beams, columns, hooks) in unstructured indoor environments and dynamically deploys and secures multiple cables in real time. Contribution/Results: The approach eliminates dependence on pre-specified anchors by enabling online decision-making on anchor location, quantity, and connection sequence. Experimental results demonstrate successful collaborative deployment of multiple anchors in unmapped, generic indoor settings, significantly extending the robot’s operational workspace, payload capacity, and force output flexibility. This work establishes a new paradigm for autonomous cable-driven robotic systems in complex, real-world scenarios.
Application Category
📝 Abstract
In order to expand the operational range and payload capacity of robots, wire-driven robots that leverage the external environment have been proposed. It can exert forces and operate in spaces far beyond those dictated by its own structural limits. However, for practical use, robots must autonomously attach multiple wires to the environment based on environmental recognition-an operation so difficult that many wire-driven robots remain restricted to specialized, pre-designed environments. Here, in this study, we propose a robot that autonomously connects multiple wires to the environment by employing a multi-small flying anchor system, as well as an RGB-D camera-based control and environmental recognition method. Each flying anchor is a drone with an anchoring mechanism at the wire tip, allowing the robot to attach wires by flying into position. Using the robot's RGB-D camera to identify suitable attachment points and a flying anchor position, the system can connect wires in environments that are not specially prepared, and can also attach multiple wires simultaneously. Through this approach, a wire-driven robot can autonomously attach its wires to the environment, thereby realizing the benefits of wire-driven operation at any location.
Problem
Research questions and friction points this paper is trying to address.
Autonomously attach multiple wires to unprepared environments
Expand robot operational range using flying anchors
Enable wire-driven robots to recognize and utilize surroundings
Innovation
Methods, ideas, or system contributions that make the work stand out.
RGB-D camera for environmental recognition
Multi-small flying anchors system
Autonomous wire attachment to environment
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