TwinX: A Dual-Robot System for Cooperative Lifting and Transport Using Shared Rope Mechanism
两台机器人悬空抬起了“伤员”，把腿当手，还能变身拖车｜东京大学
Researchers from the University of Tokyo have developed TwinX, a system that uses two robots connected by a shared rope to perform cooperative lifting and transport tasks. The system enables robots to lift a simulated casualty using their legs as arms and then transition into a vehicle-like configuration to transport the casualty. The work demonstrates the potential of multi-robot coordination in complex environments and presents a novel approach to expanding the operational space of cable-driven parallel robots (CDPR).
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What the source reports
Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
Reported numbers
maximum continuous tension
≈120
number of anchor points
4
number of flight anchors
4
- paper: not_reported
- code: not_reported
- weights: not_reported
- dataset: not_reported
Source excerpts and review record
Automatically extracted; no manual editorial approval recorded.
真机实验中，这对搭档先用无人机把绳子挂到天花板的柱子上，然后悬在半空， 把腿当手臂用，从腰部和腿部两点托起假人放到担架上： 最后收绳变成车辆形态，把担架拖走： 论文已被IEEE Robotics and Automation Letters接收。
Open source S6
两台机器人悬空抬起了“伤员”，把腿当手，还能变身拖车｜东京大学
Open source S1
每台机器人最多可以向环境引出4根绳，对应卷绳模块的最大连续张力约 120N 。
Open source S12
4个锚点分别设在(±1.5, ±1.0, 2.0)处，目标点之间用最小加加速度（min-jerk）轨迹插值。
Open source S21
第一阶段，4个飞行锚用基于RGB-D相机的方法，把两台机器人各自的两根绳挂到4根柱子上。
Open source S23
硬件上，TwinX由两台结构相同的轮腿机器人 WiXus 组成，按颜色分别叫WiXus-Blue和WiXus-Red，每台都带有电脑、电池和相机。
Open source S11
04. 实测：挂绳、抬人、拖担架 团队先在MuJoCo里做了仿真。
Open source S20
Source：RoboSpeak — WeChat · mp.weixin.qq.com