Swept Laser Based 3D Pose Detection of the Swinging Robot Acroboter

摘要

Domestic robots have been attracted growing interest. The Acroboter is a ceiling based crane-like robot concept, which utilizes the entire cubic volume of indoor environments. The benefits of cranes and drones are combined in our concept: the fan actuators make the robot agile in the horizontal direction, and the hoist rope provides the suspending force without power input when the robot is still. The lightweight structure is composed of 3D printed components and carbon balsa composite sandwich base plate. Our novel pose detection approach is to attach the HTC Vive measurement unit rigidly to the swinging unit of the robot. The working principle is based on sweeping beams of laser and time measurement providing high accuracy. We demonstrate in experiments that this novel pose detection concept is feasible for robots and it is accurate and fast enough for achieving stable trajectory tracking control of our crane-like manipulator.