机器人可自主协作完成吊顶钻孔，动态环境安全作业
A Shared-Autonomy Construction Robotic System for Overhead Works
- 用双臂机械臂+可升降底盘实现吊顶作业
- 通过高斯点云实时重建环境，识别移动物体
- 神经障碍物规避算法保障人机协同安全
我们展示了用于吊顶钻孔等高空作业的机器人系统研发进展。硬件平台包含带双级伸缩升降装置的移动底座，其上安装双臂躯干及定制钻孔末端执行器与RGB-D相机。为支持动态环境下可视范围受限时的遥操作，采用高斯点阵进行在线三维重建，并引入运动参数建模移动物体。为在动态障碍物周围安全作业，开发了基于神经配置空间屏障的规划与控制方法。初步可行性研究表明，该系统在钻孔、螺栓固定和锚固方面具备硬件能力，软件可在动态环境中实现安全遥操作。
原文摘要 · Abstract (English)
We present the ongoing development of a robotic system for overhead work such as ceiling drilling. The hardware platform comprises a mobile base with a two-stage lift, on which a bimanual torso is mounted with a custom-designed drilling end effector and RGB-D cameras. To support teleoperation in dynamic environments with limited visibility, we use Gaussian splatting for online 3D reconstruction and introduce motion parameters to model moving objects. For safe operation around dynamic obstacles, we developed a neural configuration-space barrier approach for planning and control. Initial feasibility studies demonstrate the capability of the hardware in drilling, bolting, and anchoring, and the software in safe teleoperation in a dynamic environment.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。