An RGB-D Camera-Based Multi-Small Flying Anchors Control for Wire-Driven Robots Connecting to the Environment

TL;DR

This paper presents a novel RGB-D camera-based control system for a multi-small flying anchor robot that autonomously attaches multiple wires to various environments, expanding the operational capabilities of wire-driven robots.

Contribution

The study introduces a multi-flying drone system with environmental recognition for autonomous wire attachment, enabling operation in unprepared environments.

Findings

Successfully attached multiple wires in diverse environments

Enabled autonomous operation without environment-specific pre-configuration

Demonstrated effective environmental recognition and positioning

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.