Cooperative Modular Manipulation with Numerous Cable-Driven Robots for Assistive Construction and Gap Crossing
<|reference_start|>Cooperative Modular Manipulation with Numerous Cable-Driven Robots for Assistive Construction and Gap Crossing: 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.<|reference_end|>
@article{murphy2024cooperative,
    title={Cooperative Modular Manipulation with Numerous Cable-Driven Robots for
  Assistive Construction and Gap Crossing},
    author={Kevin Murphy, Joao C. V. Soares, Justin K. Yim, Dustin Nottage, Ahmet
  Soylemezoglu, Joao Ramos},
    journal={arXiv preprint arXiv:2403.13124},
    year={2024},
    archivePrefix={arXiv},
    eprint={2403.13124},
    primaryClass={cs.RO}
}