Cooperative Modular Manipulation for Military Gap Crossing

מושגי ליבה

Scalable robotic solution for military gap crossing using modular robots.

תקציר

I. Introduction:

• Soldiers need to cross obstacles like rivers or canyons.
• Current bridging methods are complex and labor-intensive.
• Co3MaNDR aims to address challenges in military gap crossing.

II. Methodology:

• Scalable force-based controller designed for ideal force vectors.
• Controller minimizes actuator dynamics and optimizes cable forces.

III. Experiments:

• Module characterization confirms pure torque output capability.
• Scaling with modules shows proportional lifting capacity increase.
• Force amplification experiment demonstrates human-guided manipulation.

IV. Results and Discussion:

• Co3MaNDR achieves force control, scalability, and modularity.
• Limitations include lifting capacity, actuator balance, and pose control challenges.

V. Conclusion:

• Co3MaNDR offers a solution for field bridging with modular, compliant, and scalable features.
• Future research will explore additional DoFs, mobility, vision systems, and actuation approaches.

סטטיסטיקה

Results indicate that the system can be scaled up to heavier payloads without compromising performance or introducing superfluous complexity.
An operator was shown to manipulate a 27.2 kg (60 lb) payload with an average force utilization of 14.5% of its weight.
The system lifted a 27.2 kg (60 lb) payload with the operator exerting an average of 14.5% of the payload’s weight to control its motion.
Co3MaNDR's response times are faster than average human response times at 250-400ms through sensing, deciding, planning, and beginning the action.
The ratio of maximum tension achieved between the four to two module modes is ∼75%.
The average tension in trails using four modules was half the tension of trails using only two modules.
The operator exerts an estimated maximum force of approximately 105.2 N and an average of approximately 38.7 N on a payload weighing around 27.2 kg (60 lb).

ציטוטים

"By incorporating force control, Co3MaNDR eliminates the need for complex forward or inverse kinematics calculations."
"Co3MaNDR's lifting capabilities scale with the number of employed modules."
"The system successfully reduces the force required for a single operator to physically manipulate a cumbersome payload."

תובנות מפתח מזוקקות מ:

Cooperative Modular Manipulation with Numerous Cable-Driven Robots for Assistive Construction and Gap Crossing

by Kevin Murphy... ב- arxiv.org 03-21-2024

https://arxiv.org/pdf/2403.13124.pdf

שאלות מעמיקות

How might mobile CDPRs enhance mission capabilities in various scenarios beyond field construction?

Mobile Cable-Driven Parallel Robots (CDPRs) like Co3MaNDR have the potential to significantly enhance mission capabilities across a range of scenarios beyond field construction. One key area where these robots can make a substantial impact is in disaster response and recovery operations. In situations such as earthquakes, hurricanes, or wildfires, where traditional infrastructure may be compromised or inaccessible, mobile CDPRs can be deployed to navigate challenging terrains and assist in search and rescue efforts. Their ability to manipulate heavy payloads with precision and agility can aid in clearing debris, accessing hard-to-reach areas, and transporting essential supplies.
Moreover, mobile CDPRs could revolutionize logistics operations in industrial settings by streamlining material handling processes. These robots can efficiently move large components within manufacturing facilities or warehouses, optimizing workflow efficiency and reducing manual labor requirements. Additionally, their modular nature allows for easy reconfiguration based on operational needs, making them versatile assets in dynamic environments.
In military applications, mobile CDPRs offer enhanced mobility for troops by providing support for equipment transport over rough terrain or obstacles. They can also play a crucial role in setting up temporary structures quickly during tactical operations or supporting reconnaissance missions by carrying sensor payloads into remote locations.
Overall, the adaptability and scalability of mobile CDPR systems open up possibilities for enhancing mission capabilities across diverse sectors ranging from emergency response to industrial automation.

What are potential drawbacks or limitations of relying on distributed modular robotics like Co3MaNDR?

While distributed modular robotics like Co3MaNDR offer numerous advantages in terms of flexibility and adaptability for complex tasks such as heavy payload manipulation and collaborative operations, there are several potential drawbacks and limitations that need to be considered:

Complexity: The design and control of distributed modular robotic systems can be inherently complex due to the coordination required between multiple modules. Managing interactions between modules while ensuring system stability poses challenges that may increase system complexity.

Scalability: While scalability is one of the strengths of modular robotics systems like Co3MaNDR, scaling up the number of modules may introduce issues related to communication bandwidth constraints, increased computational load for real-time control algorithms, and synchronization challenges among modules.

Maintenance: With multiple interconnected modules operating together as a cohesive unit, maintenance becomes more intricate compared to single-unit robots. Ensuring consistent performance across all modules requires regular calibration checks and upkeep procedures.

Cost: Implementing distributed modular robotic systems involves higher initial costs due to the need for multiple actuators,
sensors,
and controllers per module.
Additionally,
the development
of specialized hardware
and software tailored
to each module increases
overall expenses.

Failure Resilience:
The failure
of any individual module within a distributed system could potentially disrupt overall functionality unless robust redundancy mechanisms are implemented.
Ensuring fault tolerance becomes critical when relying on these systems for mission-critical tasks.

How could advancements in proprioceptive actuators impact future applications beyond heavy payload manipulation?

Advancements
in proprioceptive actuators hold significant promise
for revolutionizing various applications beyond heavy payload manipulation:
1.
Enhanced Human-Robot Interaction:
Proprioceptive actuators enable robots
to sense external forces accurately,
leading
to safer human-robot collaboration without compromising efficiency.
This capability opens doors
for closer interaction between humans
and robots across industries such as healthcare,
manufacturing,
and rehabilitation.
2.
Dynamic Locomotion Control:
By leveraging high mechanical bandwidth provided by proprioceptive actuators,
robots can achieve agile locomotion with precise force control even under varying conditions such as uneven terrains or unexpected disturbances.
This advancement enhances robot mobility
in dynamic environments requiring quick adaptations—beneficial not only for field robotics but also exploration missions on other planets or underwater habitats.
3.
Adaptive Manufacturing Processes:
Proprioceptive actuators allow robots
to adjust their movements based on sensed forces during manufacturing processes—resulting
in improved accuracy when handling delicate materials
or performing intricate assembly tasks without causing damage—a vital aspect especially in industries like electronics manufacturing or microscale fabrication.