Cooperative Modular Manipulation with Numerous Cable-Driven Robots for Assistive Construction and Gap Crossing
CoRR(2024)
摘要
Soldiers in the field often need to cross negative obstacles, such as rivers
or canyons, to reach goals or safety. Military gap crossing involves on-site
temporary bridges construction. However, this procedure is conducted with
dangerous, time and labor intensive operations, and specialized machinery. We
envision a scalable robotic solution inspired by advancements in
force-controlled and Cable Driven Parallel Robots (CDPRs); this solution can
address the challenges inherent in this transportation problem, achieving fast,
efficient, and safe deployment and field operations. We introduce the embodied
vision in Co3MaNDR, a solution to the military gap crossing problem, a
distributed robot consisting of several modules simultaneously pulling on a
central payload, controlling the cables' tensions to achieve complex
objectives, such as precise trajectory tracking or force amplification.
Hardware experiments demonstrate teleoperation of a payload, trajectory
following, and the sensing and amplification of operators' applied physical
forces during slow operations. An operator was shown to manipulate a 27.2 kg
(60 lb) payload with an average force utilization of 14.5% of its weight.
Results indicate that the system can be scaled up to heavier payloads without
compromising performance or introducing superfluous complexity. This research
lays a foundation to expand CDPR technology to uncoordinated and unstable
mobile platforms in unknown environments.
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