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Non-Prehensile Manipulation of Cuboid Objects Using a Catenary Robot
arXiv - CS - Robotics Pub Date : 2021-08-03 , DOI: arxiv-2108.01572
Gustavo A. Cardona, Diego S. D'Antonio, Cristian-Ioan Vasile, David Saldaña

Transporting objects using quadrotors with cables has been widely studied in the literature. However, most of those approaches assume that the cables are previously attached to the load by human intervention. In tasks where multiple objects need to be moved, the efficiency of the robotic system is constrained by the requirement of manual labor. Our approach uses a non-stretchable cable connected to two quadrotors, which we call the catenary robot, that fully automates the transportation task. Using the cable, we can roll and drag the cuboid object (box) on planar surfaces. Depending on the surface type, we choose the proper action, dragging for low friction, and rolling for high friction. Therefore, the transportation process does not require any human intervention as we use the cable to interact with the box without requiring fastening. We validate our control design in simulation and with actual robots, where we show them rolling and dragging boxes to track desired trajectories.

中文翻译:

使用悬链线机器人对长方体物体进行非抓握操作

使用带电缆的四旋翼飞行器运输物体已在文献中得到广泛研究。然而,这些方法中的大多数都假设电缆之前通过人为干预连接到负载。在需要移动多个物体的任务中,机器人系统的效率受到体力劳动要求的限制。我们的方法使用不可拉伸的电缆连接到两个四旋翼飞行器,我们称之为悬链线机器人,它可以完全自动化运输任务。使用电缆,我们可以在平面上滚动和拖动长方体对象(盒子)。根据表面类型,我们选择适当的动作,低摩擦时拖动,高摩擦时滚动。因此,运输过程不需要任何人为干预,因为我们使用电缆与盒子交互而无需紧固。
更新日期:2021-08-04
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