Overcoming Physical Limitations

Utilizing the Surrounding Environment

with a Wire-Driven Multipurpose Robot

Advanced Robotics Research

The movements of robots are inherently constrained by their physical structure, making it challenging for them to respond flexibly to the complex tasks required in disaster situations or while assisting in daily life activities. Modular and transformable robots have been developed to address these challenges. However, no robot has been able to freely manipulate its operational wrench space while retaining scalability when operated with a powerful output wrench in a large workspace. This study proposes a concept for overcoming the constraints of the physical structure and accomplishing diverse tasks using the wire-driven robot CubiX. CubiX connects itself to the environment using wires via drones and can move freely by winding these wires. Furthermore, CubiX can extend its capabilities by integrating with tools such as vacuum cleaners, tables, and other robots. For example, when CubiX is integrated with a quadruped robot, it not only gains walking capabilities but also creates additional value by using the robot legs as arms for object manipulation while aerially navigating through a space using wire-driven movements. This study demonstrates that the robot can exhibit capabilities beyond its structure by skillfully utilizing the environment.

Materials and Methods

Hardware

CubiX is equipped with eight wire modules along its cube-shaped edges. It autonomously handles control and localization by using the onboard computer, camera, and batteries. The flying anchor consists of a Tello EDU drone equipped with a PLA anchor.

System Configuration

CubiX is driven by force control to reach the target position. Length control is performed In underactuated scenarios. CubiX controls the flying anchors through PD control while aligning the coordinate systems through tag recognition. Tools can also be connected to CubiX. The quadruped robot connected to CubiX is controlled via joint angle commands.

Results

Experiment on Tool Integration and Utilization


In this experiment, CubiX was connected to the environment via wires and integrated with tools. It performed tasks using these tools while being driven by the wires. We showcase three different types of wire configurations and tool integration. The three tools used in the experiment were a vacuum cleaner, a table, and a cart. For each task, the number of wires connected to the environment was varied as follows: eight wires for the vacuum cleaner, four wires for the table, and six wires for the cart, with different wire configurations tailored to each task. Through this experiment, we demonstrate that the capabilities of CubiX can change depending on how the wires are connected to the environment and which tools are integrated with its body, allowing it to perform various tasks.

Brachiation Motion Experiment


We conducted a brachiation motion experiment to demonstrate that CubiX can autonomously connect to the environment using flying anchors and move while continuously repositioning them. Through this series of movements, the two flying anchors continuously reposition the wires. Thus, CubiX achieved brachiation motion, moving from the first to the second frame, and then from the second to the third frame.

Rescue Task Experiment


By combining the ability of CubiX to integrate with tools to gain new capabilities and its ability to connect wires to the environment by using flying anchors, we demonstrate that CubiX skillfully utilizes the surrounding environment and is not constrained by its physical structure.

Bibtex

@article{inoue2024overcoming,
  author = {Inoue, Shintaro and Kawaharazuka, Kento and Suzuki, Temma and Yuzaki, Sota and Okada, Kei and Inaba, Masayuki},
  title = {Overcoming Physical Limitations Utilizing the Surrounding Environment with a Wire-Driven Multipurpose Robot},
  journal = {Advanced Robotics Research},
  volume = {n/a},
  number = {n/a},
  pages = {202400021},
  doi = {https://doi.org/10.1002/adrr.202400021},
}

Contact

If you have any questions, please feel free to contact Shintaro Inoue.