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A new cable-driven parallel robot for investigating the use of IA in robotics


A new cable-driven parallel robot for investigating the use of IA in robotics


Publication : 09/03/2020
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3IA chair of J-P. Merlet

A new cable-driven parallel robot for investigating the use of IA in robotics

The Hephaistos INRIA project team has begun to build a new cable-driven parallel robot, code-named MARIONET-3D, where a load is connected to 4 cables whose lengths may be modified by using controlled winches. An appropriate control of the cable lengths allows the robot to translate the load in 3D over a place that is 5X5 meters large with a height of 4 meters.
The model of such a complex mechanism involves a large number of parameters which may be difficult to measure and may evolve with time and have a drastic influence on the performance of the robot (positioning accuracy, safety, load capacity, etc..).

MARIONET-3D has been designed with multiple sensors providing a large amount of data regarding the state of the robot. We intend to explore IA methods for parameters estimation and compare their results and efficiency with other more or less known alternate methods such as interval analysis.

MARIONET-3D will be operational end of March 2020 and will be installed in INRIA robotics laboratory. It will then move at the end of May 2020 to Paris to be exhibited during the largest robotics conference ICRA (4500+ attendees) where it will realize an exhibition for the artist Anne-Valérie Gasç with the purpose of 3D printing a wall of glass microbeads during the 4 days of the conference. As no binder is used the wall is flattening while it is built. The logs of the robot state during this exhibition will provide the necessary data for exploring the IA methods.

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Jean-Pierre Merlet is Head of the HEPHAISTOS project

More information about HEPHAISTOS project