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MobileCharger is a novel mobile charging robot with an Inverted Deltaactuator for safe and robust energy transfer between two mobile robots. TheRGB-D camera-based computer vision system allows to detect the electrodes onthe target mobile robot using a convolutional neural network (CNN). Theembedded high-fidelity tactile sensors are applied to estimate the misalignmentbetween the electrodes on the charger mechanism and the electrodes on the mainrobot using CNN based on pressure data on the contact surfaces. Thus, thedeveloped vision-tactile perception system allows precise positioning of theend effector of the actuator and ensures a reliable connection between theelectrodes of the two robots. The experimental results showed high averageprecision (84.2%) for electrode detection using CNN. The percentage ofsuccessful trials of the CNN-based electrode search algorithm reached 83% andthe average execution time accounted for 60 s. MobileCharger could introduce anew level of charging systems and increase the prevalence of autonomous mobilerobots.

MobileCharger: an Autonomous Mobile Robot with Inverted Delta Actuator for Robust and Safe Robot Charging