Tension Tells the Tail: Cable-Obstacle Interaction Sensing for Tethered Mobile Robot Navigation
To assess the risk of individual cable-obstacle contacts, this study investigates cable tension as a sensing modality for estimating whether a contacted obstacle is movable or non-movable.
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Key points
- Tethered mobile robots can sustain long-duration operation through continuous power supply and stable communication via their cables.
- However, cable-environment interaction causes unintended obstacle displacement, cable snagging or entanglement, and even cable damage, leading to mission failure.
- We conducted experiments with a tethered mobile robot and collected tension data while varying robot velocity, contact angle between the obstacle and cable, obstacle mass, and obstacle side-surface material.
- These results demonstrate the potential of cable tension for risk assessment of cable-obstacle interactions and provide a step toward online, cable-aware autonomous navigation.
Sources (1)
- [1]Tension Tells the Tail: Cable-Obstacle Interaction Sensing for Tethered Mobile Robot NavigationarXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 17, 04:38 AM
To assess the risk of individual cable-obstacle contacts, this study investigates cable tension as a sensing modality for estimating whether a contacted obstacle is movable or non-movable.
Tethered mobile robots can sustain long-duration operation through continuous power supply and stable communication via their cables.
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