Spatial Movement and Object Manipulation with Environment-Connected Wire-Driven Robot

Abstract

Wire-driven systems generate tension by winding the wire, enabling strong forces up to the wire’s breaking strength to be transmitted over long distances. Furthermore, increasing the number of wires allows for an increase in the degrees of freedom of the controllable force. Robots incorporating the wire drive technology have been widely developed. In this study, we developed CubiX, a robot that utilizes the characteristics of wire-driven motion. CubiX connects itself to the environment via wires, which it uses to drive itself by winding them. Additionally, we conducted an experiment by integrating CubiX with other robots, thereby achieving object manipulation and spatial movement using wire-driven robots connected to the environment.