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

Iaroslav Okunevich, Daria Trinitatova, Pavel Kopanev, Dzmitry Tsetserukou

Результат исследований: Глава в книге, отчете, сборнике статейМатериалы для конференциирецензирование

2 Цитирования (Scopus)

Аннотация

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.

Язык оригиналаАнглийский
Название основной публикацииProceedings - 2021 26th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2021
ИздательInstitute of Electrical and Electronics Engineers Inc.
ISBN (электронное издание)9781728129891
DOI
СостояниеОпубликовано - 2021
Событие26th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2021 - Virtual, Vasteras, Швеция
Продолжительность: 7 сент. 202110 сент. 2021

Серия публикаций

НазваниеIEEE International Conference on Emerging Technologies and Factory Automation, ETFA
Том2021-September
ISSN (печатное издание)1946-0740
ISSN (электронное издание)1946-0759

Конференция

Конференция26th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2021
Страна/TерриторияШвеция
ГородVirtual, Vasteras
Период7/09/2110/09/21

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