MobileCharger: An Autonomous Mobile Robot with Inverted Delta Actuator for Robust and Safe Robot Charging

Iaroslav Okunevich, Daria Trinitatova, Pavel Kopanev, Dzmitry Tsetserukou

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)

Abstract

MobileCharger is a novel mobile charging robot with an Inverted Delta actuator for safe and robust energy transfer between two mobile robots. The RGB-D camera-based computer vision system allows to detect the electrodes on the target mobile robot using a convolutional neural network (CNN). The embedded high-fidelity tactile sensors are applied to estimate the misalignment between the electrodes on the charger mechanism and the electrodes on the main robot using CNN based on pressure data on the contact surfaces. Thus, the developed vision-tactile perception system allows precise positioning of the end effector of the actuator and ensures a reliable connection between the electrodes of the two robots. The experimental results showed high average precision (84.2%) for electrode detection using CNN. The percentage of successful trials of the CNN-based electrode search algorithm reached 83% and the average execution time accounted for 60 s. MobileCharger could introduce a new level of charging systems and increase the prevalence of autonomous mobile robots.

Original languageEnglish
Title of host publicationProceedings - 2021 26th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728129891
DOIs
Publication statusPublished - 2021
Event26th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2021 - Virtual, Vasteras, Sweden
Duration: 7 Sep 202110 Sep 2021

Publication series

NameIEEE International Conference on Emerging Technologies and Factory Automation, ETFA
Volume2021-September
ISSN (Print)1946-0740
ISSN (Electronic)1946-0759

Conference

Conference26th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2021
Country/TerritorySweden
CityVirtual, Vasteras
Period7/09/2110/09/21

Keywords

  • Autonomous mobile robots
  • Computer vision
  • Deep learning methods
  • Factory automation
  • Intelligent sensors and actuators

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